From ee15cc172a5ee8e7e8099b7e8d5fe7d3fadcc828 Mon Sep 17 00:00:00 2001
From: Tim Winters <twinters@wpi.edu>
Date: Sun, 28 Jan 2024 02:51:00 -0500
Subject: [PATCH] [commands] Reset timer in quasistatic SysIdRoutine test
 (#6322)

---
 .../edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java  | 2 +-
 .../src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp | 6 +-----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
index f0f81c861d2..053a404c779 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
@@ -226,7 +226,7 @@ public Command quasistatic(Direction direction) {
     Timer timer = new Timer();
     return m_mechanism
         .m_subsystem
-        .runOnce(timer::start)
+        .runOnce(timer::restart)
         .andThen(
             m_mechanism.m_subsystem.run(
                 () -> {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
index ea95db029a6..359c8d824d4 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
@@ -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] {