From 8a7b64ab791a50d7cc3bd8953e135ffb8e2bdbda Mon Sep 17 00:00:00 2001
From: iefomit <timofei.stem@gmail.com>
Date: Wed, 8 Apr 2026 15:54:23 -0700
Subject: [PATCH] Revert

---
 .../drive_comm/SysIdPerModuleCommand.java     | 68 -------------------
 .../controls/PS5ControllerDriverConfig.java   |  4 --
 2 files changed, 72 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/drive_comm/SysIdPerModuleCommand.java

diff --git a/src/main/java/frc/robot/commands/drive_comm/SysIdPerModuleCommand.java b/src/main/java/frc/robot/commands/drive_comm/SysIdPerModuleCommand.java
deleted file mode 100644
index cc229f7..0000000
--- a/src/main/java/frc/robot/commands/drive_comm/SysIdPerModuleCommand.java
+++ /dev/null
@@ -1,68 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.drive_comm;
-
-
-import com.ctre.phoenix6.SignalLogger;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.units.Units;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
-import frc.robot.subsystems.drivetrain.Drivetrain;
-import frc.robot.util.SysId;
-
-public class SysIdPerModuleCommand extends SequentialCommandGroup {
-
-    private Config config = new Config();
-
-    public SysIdPerModuleCommand(Drivetrain drive) {
-        config = new Config(
-            Units.Volts.of(0.5).per(Units.Seconds),
-            Units.Volts.of(3),
-            Units.Seconds.of(5),
-            (x) -> SignalLogger.writeString("state", x.toString())
-        );
-
-        var modules = drive.getModules();
-
-        for (int i = 0; i < modules.length; i++) {
-            final int moduleIndex = i;
-
-            SysId sysId = new SysId(
-                "Module" + i,
-                (voltage) -> {
-                    for (int m = 0; m < modules.length; m++) {
-                        if (m == moduleIndex) {
-                            modules[m].setDriveVoltage(voltage);
-                        } else {
-                            modules[m].setDriveVoltage(Units.Volts.of(0));
-                        }
-                    }
-                    Rotation2d zeroAngle = Rotation2d.fromDegrees(0);
-                    Rotation2d[] angles = new Rotation2d[4];
-                    for (int a = 0; a < 4; a++) {
-                        angles[a] = zeroAngle;
-                    }
-                    drive.setAngleMotors(angles);
-                },
-                drive,
-                config
-            );
-
-            addCommands(
-                sysId.runQuasisStatic(Direction.kForward).withName("Module" + i + "_QS_Fwd"),
-                new WaitCommand(0.5),
-                sysId.runDynamic(Direction.kForward).withName("Module" + i + "_Dyn_Fwd"),
-                new WaitCommand(0.5),
-                sysId.runQuasisStatic(Direction.kReverse).withName("Module" + i + "_QS_Rev"),
-                new WaitCommand(0.5),
-                sysId.runDynamic(Direction.kReverse).withName("Module" + i + "_Dyn_Rev"),
-                new WaitCommand(1.0)
-            );
-        }
-    }
-}
\ 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 9b3f5db..1f81078 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -12,7 +12,6 @@ import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.ReverseMotors;
 import frc.robot.commands.gpm.RunSpindexer;
 import frc.robot.commands.gpm.Superstructure;
-import frc.robot.commands.drive_comm.SysIdPerModuleCommand;
 import frc.robot.constants.Constants;
 import frc.robot.subsystems.Climb.LinearClimb;
 import frc.robot.subsystems.Intake.Intake;
@@ -70,9 +69,6 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             CommandScheduler.getInstance().cancelAll();
         }));
 
-        // // sysId per-module characterization
-        // controller.get(PS5Button.TRIANGLE).onTrue(new SysIdPerModuleCommand(getDrivetrain()));
-
         // Reverse motors
         if (intake != null && spindexer != null) {
             controller.get(PS5Button.LB).whileTrue(new ReverseMotors(intake));
-- 
2.39.5