From 7141472d80f276a84d3ed30545bcd824769ef8b0 Mon Sep 17 00:00:00 2001
From: Jonah <47046556+jwbonner@users.noreply.github.com>
Date: Thu, 19 Dec 2024 20:33:59 -0500
Subject: [PATCH] Remove start delay from diff drive FF command

---
 .../main/java/frc/robot/commands/DriveCommands.java | 13 +------------
 1 file changed, 1 insertion(+), 12 deletions(-)

diff --git a/template_projects/diff_drive/src/main/java/frc/robot/commands/DriveCommands.java b/template_projects/diff_drive/src/main/java/frc/robot/commands/DriveCommands.java
index 2a78f130..d6d3439c 100644
--- a/template_projects/diff_drive/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/template_projects/diff_drive/src/main/java/frc/robot/commands/DriveCommands.java
@@ -29,7 +29,6 @@
 
 public class DriveCommands {
   private static final double DEADBAND = 0.1;
-  private static final double FF_START_DELAY = 2.0; // Secs
   private static final double FF_RAMP_RATE = 0.1; // Volts/Sec
 
   private DriveCommands() {}
@@ -68,19 +67,9 @@ public static Command feedforwardCharacterization(Drive drive) {
             () -> {
               velocitySamples.clear();
               voltageSamples.clear();
+              timer.restart();
             }),
 
-        // Allow modules to orient
-        Commands.run(
-                () -> {
-                  drive.runOpenLoop(0.0, 0.0);
-                },
-                drive)
-            .withTimeout(FF_START_DELAY),
-
-        // Start timer
-        Commands.runOnce(timer::restart),
-
         // Accelerate and gather data
         Commands.run(
                 () -> {