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Add kicker sysid #25

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Add kicker sysid #25

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1 change: 1 addition & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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");
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17 changes: 17 additions & 0 deletions src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -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));
}
}