From 6c5362a10d3a1868c413665c99d50e39696cb1af Mon Sep 17 00:00:00 2001 From: mixxlto Date: Thu, 29 Jan 2026 17:02:17 -0800 Subject: [PATCH] Delete DoSysidThings.java --- .../frc/robot/commands/gpm/DoSysidThings.java | 36 ------------------- 1 file changed, 36 deletions(-) delete mode 100644 src/main/java/frc/robot/commands/gpm/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 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()); - } -} -- 2.39.5