From ba7e8d59ad628c0435c361bfc876f4086fb8171a Mon Sep 17 00:00:00 2001
From: Tyler-j42 <team2648@coldlightalchemist.com>
Date: Tue, 20 May 2025 16:47:48 -0400
Subject: [PATCH] no worky

---
 src/main/java/frc/robot/Robot.java                       | 2 +-
 src/main/java/frc/robot/constants/ElevatorConstants.java | 4 ++--
 src/main/java/frc/robot/subsystems/Elevator.java         | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 89af11d..21f32ac 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/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
diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
index 5293f28..b657738 100644
--- a/src/main/java/frc/robot/constants/ElevatorConstants.java
+++ b/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;
 
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index ca8eb8a..70d8688 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/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);
         }, () -> {