From f13e384c7e8778b6b4f792701cf6596608ab3570 Mon Sep 17 00:00:00 2001
From: moo <moogoesmeow123@gmail.com>
Date: Tue, 28 Apr 2026 16:59:45 -0500
Subject: [PATCH] prepare for sysid identification

---
 src/main/java/frc/robot/RobotContainer.java                   | 4 +++-
 src/main/java/frc/robot/constants/swerve/DriveConstants.java  | 2 +-
 .../java/frc/robot/controls/PS5ControllerDriverConfig.java    | 1 +
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f68fd49..46e1aa8 100644
--- 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 d136d10..bf5a546 100644
--- 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 6a7caa8..37e1d23 100644
--- 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;
-- 
2.39.5