From fa78e86b0ff97f9722bda28fa6d71a88e7a0e181 Mon Sep 17 00:00:00 2001
From: Modular-Holmes <77898901+Modular-Holmes@users.noreply.github.com>
Date: Mon, 1 Apr 2024 13:25:24 -0400
Subject: [PATCH] Added quad test routine for SysID

---
 src/main/java/frc/robot/RobotContainer.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1d28a3d..621bc41 100644
--- 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();