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Sysid

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This commit is contained in:
Antoine PerreaultE
2026-03-17 18:26:28 -04:00
parent d73da286ed
commit e919daab88
2 changed files with 87 additions and 0 deletions
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6
src/main/java/frc/robot/RobotContainer.java
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.commands.Aspirer;
import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
@@ -93,6 +94,11 @@ public class RobotContainer {
.withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
)
);
manette.y().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
manette.a().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
manette.b().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
manette.x().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
manette.a().whileTrue(new Lancer(lanceur,limeLight3G,balayeuse,led));
manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3, balayeuse, led));