no worky

src/main/java/frc/robot/Robot.java

@@ -35,7 +35,7 @@ public Robot() {
 
     if (isReal()) {
         Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
-        //Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+        Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
         new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
     } else {
         setUseTiming(false); // Run as fast as possible

src/main/java/frc/robot/constants/ElevatorConstants.java

@@ -35,9 +35,9 @@ public class ElevatorConstants {
     public static final double kMaintainP = 3;
     */
 
-    public static final double kP = 5.6;//7; //
+    public static final double kP = 3;//7; //
     public static final double kI = 0;
-    public static final double kD = 0.28;//0.28 
+    public static final double kD = 0;//.28;//0.28 
 
     public static final double kAllowedError = 1;
 

src/main/java/frc/robot/subsystems/Elevator.java

@@ -144,7 +144,7 @@ public class Elevator extends SubsystemBase {
         }, 
         () -> {
             controller.setReference(
-                setpoint.position, 
+                encoder.getPosition(), 
                 ControlType.kPosition, 
                 ClosedLoopSlot.kSlot0,
                 feedForward.calculate(0.0)
@@ -169,7 +169,7 @@ public class Elevator extends SubsystemBase {
      * @return Sets motor voltage to achieve the target destination
      */
     public Command goToSetpoint(DoubleSupplier setGoal) {
-            
+        
         return startRun(() -> {
             goal = new TrapezoidProfile.State(setGoal.getAsDouble(), 0.0);
         }, () -> {