Delete DoSysidThings.java

diff --git a/src/main/java/frc/robot/commands/gpm/DoSysidThings.java b/src/main/java/frc/robot/commands/gpm/DoSysidThings.java
deleted file mode 100644 (file)
index e860a2a..0000000
--- a/src/main/java/frc/robot/commands/gpm/DoSysidThings.java
+++ /dev/null
@@ -1,36 +0,0 @@
-package frc.robot.commands.gpm;
-
-import edu.wpi.first.units.VoltageUnit;
-import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
-import frc.robot.subsystems.turret.Turret;
-
-public class DoSysidThings extends SequentialCommandGroup {
-    Turret turret;
-
-    // TODO: CHECK HARDSTOPS
-    public DoSysidThings(Turret turret) {
-        this.turret = turret;
-        Config conf = new Config();
-        SysIdRoutine.Mechanism mech = new SysIdRoutine.Mechanism(turret::setVoltage, this::doLog, turret);
-        SysIdRoutine routine = new SysIdRoutine(conf, mech);
-
-        addCommands(
-            routine.quasistatic(SysIdRoutine.Direction.kForward),
-            routine.quasistatic(SysIdRoutine.Direction.kReverse),
-            routine.dynamic(SysIdRoutine.Direction.kForward),
-            routine.dynamic(SysIdRoutine.Direction.kReverse)
-        );
-    }
-
-    private void doLog(SysIdRoutineLog log) {
-        log.motor("turret")
-            .voltage(turret.getVolts())
-            .angularPosition(turret.getPosition())
-            .angularVelocity(turret.getVelocity())
-            .angularAcceleration(turret.getAccel());
-    }
-}