Add AbstractSysID class

src/main/java/com/stuypulse/robot/RobotContainer.java

@@ -1,25 +1,30 @@
-/************************ PROJECT PHIL ************************/
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
-/* This work is licensed under the terms of the MIT license.  */
-/**************************************************************/
+/************************ PROJECT SYSID ************************/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
+/* Use of this source code is governed by an MIT-style license */
+/* that can be found in the repository LICENSE file.           */
+/***************************************************************/
 
 package com.stuypulse.robot;
 
-import com.stuypulse.robot.commands.auton.DoNothingAuton;
-import com.stuypulse.robot.constants.Ports;
 import com.stuypulse.stuylib.input.Gamepad;
 import com.stuypulse.stuylib.input.gamepads.AutoGamepad;
 
+import com.stuypulse.robot.commands.auton.DoNothingAuton;
+import com.stuypulse.robot.constants.Ports;
+import com.stuypulse.robot.subsystems.AbstractSysID;
+
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 
 public class RobotContainer {
 
+    public final AbstractSysID sysid = AbstractSysID.getInstance();
+
     // Gamepads
     public final Gamepad driver = new AutoGamepad(Ports.Gamepad.DRIVER);
     public final Gamepad operator = new AutoGamepad(Ports.Gamepad.OPERATOR);
-    
+
     // Subsystem
 
     // Autons
@@ -51,6 +56,10 @@ private void configureButtonBindings() {}
 
     public void configureAutons() {
         autonChooser.setDefaultOption("Do Nothing", new DoNothingAuton());
+        autonChooser.addOption("Quasistatic Forward", sysid.quasistaticForward());
+        autonChooser.addOption("Quasistatic Reverse", sysid.quasistaticReverse());
+        autonChooser.addOption("Dynamic Forward", sysid.dynamicForward());
+        autonChooser.addOption("Dynamic Reverse", sysid.dynamicReverse());
 
         SmartDashboard.putData("Autonomous", autonChooser);
     }

src/main/java/com/stuypulse/robot/subsystems/AbstractSysID.java

@@ -0,0 +1,46 @@
+/************************ PROJECT SYSID ************************/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
+/* Use of this source code is governed by an MIT-style license */
+/* that can be found in the repository LICENSE file.           */
+/***************************************************************/
+
+package com.stuypulse.robot.subsystems;
+
+import static com.stuypulse.robot.constants.Settings.Routine.*;
+
+import com.stuypulse.robot.subsystems.swerve.SwerveDriveSysID;
+import com.stuypulse.robot.subsystems.swerve.SwerveTurnSysID;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public abstract class AbstractSysID extends SubsystemBase {
+
+    public static final AbstractSysID instance;
+
+    static {
+        switch (ROUTINE) {
+            case SWERVE_DRIVE:
+                instance = new SwerveDriveSysID();
+                break;
+            case SWERVE_TURN:
+                instance = new SwerveTurnSysID();
+                break;
+            default:
+                instance = null;
+                break;
+        }
+    }
+
+    public static AbstractSysID getInstance() {
+        return instance;
+    }
+
+    public abstract Command quasistaticForward();
+
+    public abstract Command quasistaticReverse();
+
+    public abstract Command dynamicForward();
+
+    public abstract Command dynamicReverse();
+}