added to robot container

team401 · Mar 9, 2024 · fcc413b · fcc413b
1 parent bc2ab65
commit fcc413b
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -24,6 +24,7 @@
 import frc.robot.Constants.VisionConstants;
 import frc.robot.commands.DriveWithJoysticks;
 import frc.robot.commands.ShootWithGamepad;
+import frc.robot.commands.WheelRadiusCharacterization;
 import frc.robot.subsystems.LED;
 import frc.robot.subsystems.drive.CommandSwerveDrivetrain;
 import frc.robot.subsystems.drive.CommandSwerveDrivetrain.AlignState;
@@ -329,6 +330,7 @@ private void configureModes() {
         testModeChooser.addOption("Hood Tuning", "tuning-hood");
         testModeChooser.addOption("Shooter Tuning", "tuning-shooter");
         testModeChooser.addOption("Endgame Tuning", "tuning-endgame");
+        testModeChooser.addOption("Wheel Characterization", "characterization-wheel");
 
         SmartDashboard.putData("Test Mode Chooser", testModeChooser);
     }
@@ -647,6 +649,9 @@ public void testInit() {
                                             endgameSubsystem.setVolts(0, 0);
                                             endgameSubsystem.setAction(EndgameAction.OVERRIDE);
                                         }));
+                    break;
+                case "characterization-wheel":
+                        controller.a().onTrue(new InstantCommand(() -> new WheelRadiusCharacterization(drivetrain)));
                break;
         }
         // spotless:on