diff --git a/python/PhoenixSysId/robot.py b/python/PhoenixSysId/robot.py
index 246ba5d4..f77b8c13 100644
--- a/python/PhoenixSysId/robot.py
+++ b/python/PhoenixSysId/robot.py
@@ -23,6 +23,8 @@ def robotInit(self) -> None:
         """
         self.container = RobotContainer()
 
+        self.autonomousCommand = None
+
     def disabledInit(self) -> None:
         """This function is called once each time the robot enters Disabled mode."""
         pass
diff --git a/python/PhoenixSysId/robotcontainer.py b/python/PhoenixSysId/robotcontainer.py
index a5fe5b79..e25844fd 100644
--- a/python/PhoenixSysId/robotcontainer.py
+++ b/python/PhoenixSysId/robotcontainer.py
@@ -6,7 +6,7 @@
 
 from subsystems.flywheel import FlywheelMechanism
 
-class SysIdRoutineBot:
+class RobotContainer:
     def __init__(self) -> None:
         self.joystick = CommandXboxController(0)
         self.mechanism = FlywheelMechanism()
@@ -46,4 +46,4 @@ def getAutonomousCommand(self) -> Command:
         Scheduled during :meth:`.Robot.autonomousInit`.
         """
 
-        return cmd.print("No autonomous command configured")
+        return cmd.print_("No autonomous command configured")
diff --git a/python/PhoenixSysId/subsystems/flywheel.py b/python/PhoenixSysId/subsystems/flywheel.py
index ef633c7c..84d038bd 100644
--- a/python/PhoenixSysId/subsystems/flywheel.py
+++ b/python/PhoenixSysId/subsystems/flywheel.py
@@ -1,7 +1,6 @@
 from commands2 import Command, Subsystem
 from commands2.sysid import SysIdRoutine
 from wpilib.sysid import SysIdRoutineLog
-from wpimath.units import volts
 
 from phoenix6 import configs, controls, hardware, BaseStatusSignal, SignalLogger
 
@@ -9,7 +8,7 @@
 
 from typing import Callable
 
-class FlywheelMechanism:
+class FlywheelMechanism(Subsystem):
     def __init__(self) -> None:
         self.motor_to_test = hardware.TalonFX(Constants.kTalonFxId, Constants.kCANbus)
         self.joystick_control = controls.DutyCycleOut(0)
@@ -24,7 +23,7 @@ def __init__(self) -> None:
                 recordState = lambda state: SignalLogger.write_string("state", SysIdRoutineLog.stateEnumToString(state))
             ),
             SysIdRoutine.Mechanism(
-                lambda volts: self.motor.set_control(self.voltage_req.with_output(volts)),
+                lambda volts: self.motor_to_test.set_control(self.sys_id_control.with_output(volts)),
                 lambda log: None,
                 self
             )
diff --git a/python/PhoenixSysId/tests/pyfrc_test.py b/python/PhoenixSysId/tests/pyfrc_test.py
index bc5b4f42..4c03f00b 100644
--- a/python/PhoenixSysId/tests/pyfrc_test.py
+++ b/python/PhoenixSysId/tests/pyfrc_test.py
@@ -5,11 +5,6 @@
 
 from pyfrc.tests import *
 from wpilib.simulation import XboxControllerSim
-import time
-from subsystems.flywheel import FlywheelMechanism
-
-FIRST_SET = 0
-SECOND_SET = 4.8
 
 def assert_almost_equal(a: float, b: float, range_val: float):
     """
@@ -18,21 +13,23 @@ def assert_almost_equal(a: float, b: float, range_val: float):
     assert a >= (b - range_val) and a <= (b + range_val)
 
 def test_sysid_quasistatic(control, robot):
-    joysim = XboxControllerSim(robot.container.joystick.getHID())
+    with control.run_robot():
+        joysim = XboxControllerSim(robot.container.joystick.getHID())
 
-    joysim.setYButton(True)
-    control.step_timing(seconds=0.1, autonomous=False, enabled=True)
+        joysim.setYButton(True)
+        control.step_timing(seconds=0.1, autonomous=False, enabled=True)
 
-    assert robot.container.mechanism.sys_id_control.output > 0.1
+        assert_almost_equal(robot.container.mechanism.sys_id_control.output, 0.16, 0.01)
 
-    joysim.setYButton(False)
+        joysim.setYButton(False)
 
 def test_sysid_dynamic(control, robot):
-    joysim = XboxControllerSim(robot.container.joystick.getHID())
+    with control.run_robot():
+        joysim = XboxControllerSim(robot.container.joystick.getHID())
 
-    joysim.setXButton(True)
-    control.step_timing(seconds=0.1, autonomous=False, enabled=True)
+        joysim.setBButton(True)
+        control.step_timing(seconds=0.1, autonomous=False, enabled=True)
 
-    assert robot.container.mechanism.sys_id_control.output > 0.1
-    
-    joysim.setXButton(False)
+        assert_almost_equal(robot.container.mechanism.sys_id_control.output, 4.0, 0.01)
+        
+        joysim.setBButton(False)