From f10dc1165d66b0c627efbf1155c1bc0067cfee48 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 20 Feb 2025 19:20:23 -0500
Subject: [PATCH] sisid manque drive

---
 .SysId/sysid.json                                          | 1 +
 src/main/java/frc/robot/RobotContainer.java                | 5 +++++
 src/main/java/frc/robot/TunerConstants/TunerConstants.java | 4 ++--
 3 files changed, 8 insertions(+), 2 deletions(-)
 create mode 100644 .SysId/sysid.json

diff --git a/.SysId/sysid.json b/.SysId/sysid.json
new file mode 100644
index 0000000..0967ef4
--- /dev/null
+++ b/.SysId/sysid.json
@@ -0,0 +1 @@
+{}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ba6580b..12f17f6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
@@ -77,6 +78,10 @@ public class RobotContainer {
         );
 
         // reset the field-centric heading on left bumper press
+        manette1.y().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
+        manette1.a().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
+        manette1.b().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
+        manette1.x().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
         manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
         manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
         manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
diff --git a/src/main/java/frc/robot/TunerConstants/TunerConstants.java b/src/main/java/frc/robot/TunerConstants/TunerConstants.java
index e45fc2a..3229ec0 100644
--- a/src/main/java/frc/robot/TunerConstants/TunerConstants.java
+++ b/src/main/java/frc/robot/TunerConstants/TunerConstants.java
@@ -24,8 +24,8 @@ public class TunerConstants {
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
     private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(100).withKI(0).withKD(0.5)
-        .withKS(0.1).withKV(2.66).withKA(0)
+        .withKP(52.109).withKI(0).withKD(3.0232)
+        .withKS(0.24757).withKV(2.4715).withKA(0.062286)
         .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control
     // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput