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[commands] Reset timer in quasistatic SysIdRoutine test (#6322)

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This commit is contained in:
Tim Winters
2024-01-28 02:51:00 -05:00
committed by GitHub
parent 1016e95242
commit ee15cc172a
2 changed files with 2 additions and 6 deletions
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2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
View File

@@ -226,7 +226,7 @@ public class SysIdRoutine extends SysIdRoutineLog {
Timer timer = new Timer();
return m_mechanism
.m_subsystem
.runOnce(timer::start)
.runOnce(timer::restart)
.andThen(
m_mechanism.m_subsystem.run(
() -> {

6
wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
View File

@@ -18,11 +18,7 @@ frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
return m_mechanism.m_subsystem
->RunOnce([this] {
timer.Reset();
timer.Start();
})
return m_mechanism.m_subsystem->RunOnce([this] { timer.Restart(); })
.AndThen(
m_mechanism.m_subsystem
->Run([this, state, outputSign] {