Cleanup Java sysid example

java/PhoenixSysId/src/main/java/frc/robot/RobotContainer.java

@@ -8,15 +8,13 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.subsystems.FlywheelMechanism;
 
 public class RobotContainer {
-
-    CommandXboxController m_joystick = new CommandXboxController(0);
-    FlywheelMechanism m_mechanism = new FlywheelMechanism();
+    private final CommandXboxController m_joystick = new CommandXboxController(0);
+    private final FlywheelMechanism m_mechanism = new FlywheelMechanism();
 
     public RobotContainer() {
         configureBindings();
@@ -26,21 +24,22 @@ private void configureBindings() {
         /* Default command is duty cycle control with the left up/down stick */
         m_mechanism.setDefaultCommand(m_mechanism.joystickDriveCommand(m_joystick::getLeftY));
 
+        /* Manually start logging with left bumper before running any tests,
+         * and stop logging with right bumper after we're done with ALL tests.
+         * This isn't necessary, but is convenient to reduce the size of the hoot file */
+        m_joystick.leftBumper().onTrue(Commands.runOnce(SignalLogger::start));
+        m_joystick.rightBumper().onTrue(Commands.runOnce(SignalLogger::stop));
+
         /**
          * Joystick Y = quasistatic forward
-         * Joystick B = dynamic forward
          * Joystick A = quasistatic reverse
+         * Joystick B = dynamic forward
          * Joystick X = dyanmic reverse
          */
         m_joystick.y().whileTrue(m_mechanism.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
         m_joystick.a().whileTrue(m_mechanism.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
         m_joystick.b().whileTrue(m_mechanism.sysIdDynamic(SysIdRoutine.Direction.kForward));
         m_joystick.x().whileTrue(m_mechanism.sysIdDynamic(SysIdRoutine.Direction.kReverse));
-
-
-        /* Manually stop logging with left bumper after we're done with the tests */
-        /* This isn't necessary, but is convenient to reduce the size of the hoot file */
-        m_joystick.leftBumper().onTrue(new RunCommand(SignalLogger::stop));
     }
 
     public Command getAutonomousCommand() {

java/PhoenixSysId/src/main/java/frc/robot/subsystems/FlywheelMechanism.java

@@ -23,7 +23,7 @@ public class FlywheelMechanism extends SubsystemBase {
     private final DutyCycleOut m_joystickControl = new DutyCycleOut(0);
     private final VoltageOut m_sysidControl = new VoltageOut(0);
 
-    private SysIdRoutine m_SysIdRoutine =
+    private final SysIdRoutine m_SysIdRoutine =
         new SysIdRoutine(
             new SysIdRoutine.Config(
                 null,         // Default ramp rate is acceptable
@@ -40,6 +40,7 @@ public FlywheelMechanism() {
         setName("Flywheel");
 
         TalonFXConfiguration cfg = new TalonFXConfiguration();
+        // Set any necessary configs in the Feedback group here
         m_motorToTest.getConfigurator().apply(cfg);
 
         /* Speed up signals for better charaterization data */
@@ -48,9 +49,10 @@ public FlywheelMechanism() {
             m_motorToTest.getVelocity(),
             m_motorToTest.getMotorVoltage());
 
-        /* Optimize out the other signals, since they're not particularly helpful for us */
+        /* Optimize out the other signals, since they're not useful for SysId */
         m_motorToTest.optimizeBusUtilization();
 
+        /* Start the signal logger */
         SignalLogger.start();
     }