From 40ac5db19aeb375af5ad24888901167027ed2118 Mon Sep 17 00:00:00 2001 From: moo Date: Tue, 28 Apr 2026 17:04:36 -0500 Subject: [PATCH] make use advantagekit for characterization --- .../java/frc/robot/commands/drive_comm/SysIDDriveCommand.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java b/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java index 17bb229..10166c0 100644 --- a/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java +++ b/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java @@ -5,6 +5,8 @@ package frc.robot.commands.drive_comm; +import org.littletonrobotics.junction.Logger; + import com.ctre.phoenix6.SignalLogger; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.Units; @@ -27,7 +29,7 @@ public class SysIDDriveCommand extends SequentialCommandGroup { Units.Volts.of(0.5).per(Units.Seconds), Units.Volts.of(3), Units.Seconds.of(5), - (x)->SignalLogger.writeString("state", x.toString()) + (state) -> Logger.recordOutput("SysIdTestState", state.toString()) ); Rotation2d[] angles = { Rotation2d.fromDegrees(0),//-45-180 -- 2.39.5