diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 402b704..c42a549 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -378,6 +378,7 @@ private void addAutos() {
     autoChooser.addOption("Hood Sysid", shooter.runHoodSysid());
     autoChooser.addOption("Index Roller Sysid", indexer.runRollerSysId());
     autoChooser.addOption("Intake Roller Sysid", intake.runRollerSysid());
+    autoChooser.addOption("Kicker Sysid", indexer.runKickerSysId());
     autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid());
     haveAutosGenerated = true;
     System.out.println("Done generating autos");
diff --git a/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java
index 37698d1..6057df0 100644
--- a/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java
@@ -42,6 +42,15 @@ public class IndexerSubsystem extends SubsystemBase {
               (state) -> Logger.recordOutput("Indexer/Roller/SysID State", state)),
           new Mechanism((volts) -> indexRollerIO.setRollerVoltage(volts.in(Volts)), null, this));
 
+  private SysIdRoutine kickerRollerSysid =
+      new SysIdRoutine(
+          new Config(
+              null,
+              null,
+              null,
+              (state) -> Logger.recordOutput("Indexer/Kicker/SysID State", state)),
+          new Mechanism((volts) -> kickerIO.setRollerVoltage(volts.in(Volts)), null, this));
+
   public static final double MAX_ACCELERATION = 10.0;
   public static final double MAX_VELOCITY = 10.0;
   public static final double KICKER_GEAR_RATIO = 2.0;
@@ -174,4 +183,12 @@ public Command runRollerSysId() {
         indexRollerSysid.dynamic(Direction.kForward),
         indexRollerSysid.dynamic(Direction.kReverse));
   }
+
+  public Command runKickerSysId() {
+    return Commands.sequence(
+        kickerRollerSysid.quasistatic(Direction.kForward),
+        kickerRollerSysid.quasistatic(Direction.kReverse),
+        kickerRollerSysid.dynamic(Direction.kForward),
+        kickerRollerSysid.dynamic(Direction.kReverse));
+  }
 }