Added quad test routine for SysID

TheHighlanders · Apr 1, 2024 · fa78e86 · fa78e86
1 parent 4d60c29
commit fa78e86
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -132,6 +132,9 @@ public RobotContainer() {
         "Flywheel SysId (Dynamic Forward)", flywheel.sysIdDynamic(SysIdRoutine.Direction.kForward));
     autoChooser.addOption(
         "Flywheel SysId (Dynamic Reverse)", flywheel.sysIdDynamic(SysIdRoutine.Direction.kReverse));
+    autoChooset.addOption(
+        "Drive SysID (Quad Test)", new SequentialCommandGroup(drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward),drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse),
+                                                              drive.sysIdDynamic(SysIdRoutine.Direction.kForward),drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
 
     // Configure the button bindings
     configureButtonBindings();