prepare for sysid identification

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f68fd493b6a2fba85370859c9d2c00bc9b8c8637..46e1aa816ab4813274f3d1c3db1140b8a79d860b 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,6 +23,7 @@ import frc.robot.commands.DoNothing;
 import frc.robot.commands.LogCommand;
 import frc.robot.commands.auto_comm.DynamicAutoBuilder;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
+import frc.robot.commands.drive_comm.SysIDDriveCommand;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.LockedShoot;
 import frc.robot.commands.gpm.RunSpindexer;
@@ -151,7 +152,8 @@ public class RobotContainer {
         }
         
         if (drive != null && driver != null) {
-          drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
+          // drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
+          SmartDashboard.putData("SysId Characterization", new SysIDDriveCommand(drive));
         }
         break;
     }

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index d136d1088cf084356b8390fae5bb22b993c45134..bf5a546d9528ba810e8d513b11bb6b414ea0d403 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -302,4 +302,4 @@ public class DriveConstants {
                 
             }
         }
-}
\ No newline at end of file
+}

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 6a7caa8127be39a9a466fc64cc6ac2527ab14e07..37e1d23d73a95cfa23a3cc4472c51e586fe25a5c 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.Robot;
+import frc.robot.commands.drive_comm.SysIDDriveCommand;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.ReverseMotors;
 import frc.robot.commands.gpm.RunSpindexer;