Corrected the elevator velocity converstion factor and added the controller reset in the right place

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

@@ -17,7 +17,8 @@ public class ElevatorConstants {
     public static final int kBottomLimitSwitchID = 0;
 
     // 60/11 gearing multiplied by circumference of sprocket multiplied by 2 for carriage position
-    public static final double kEncoderConversionFactor = 11.0/60.0 * (22.0*0.25) * 2.0;
+    public static final double kEncoderPositionConversionFactor = 11.0/60.0 * (22.0*0.25) * 2.0;
+    public static final double kEncoderVelocityConversionFactor = 11.0/60.0 * (22.0*0.25) * 2.0 / 60;
 
     public static final int kCurrentLimit = 40;
 
@@ -74,27 +75,7 @@ public class ElevatorConstants {
             .idleMode(kIdleMode)
             .inverted(true);
         motorConfig.encoder
-            .positionConversionFactor(kEncoderConversionFactor)
+            .positionConversionFactor(kEncoderPositionConversionFactor)
-            .velocityConversionFactor(kEncoderConversionFactor);
+            .velocityConversionFactor(kEncoderVelocityConversionFactor);
-        /*motorConfig.closedLoop
-            .p(kPositionControllerP)
-            .i(kPositionControllerI)
-            .d(kPositionControllerD)
-            .velocityFF(0.0); // keep at zero for position pid
-        motorConfig.closedLoop.maxMotion
-            .maxAcceleration(kMaxAcceleration)
-            .maxVelocity(kMaxVelocity)
-            .allowedClosedLoopError(kAllowedError);*/
-    }
-
-    public static final SparkMaxConfig motorConfig2 = new SparkMaxConfig();
-
-    static {
-        motorConfig2
-            .smartCurrentLimit(kCurrentLimit)
-            .idleMode(kIdleMode)
-            .inverted(false);
-        motorConfig.encoder
-            .positionConversionFactor(kEncoderConversionFactor);  
     }
 }

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

@@ -172,13 +172,13 @@ public class Elevator extends SubsystemBase {
 
         return run(() -> {
             //pidController.reset(encoder.getPosition(), encoder.getVelocity());
+
             elevatorMotor1.setVoltage(
                 pidControllerUp.calculate(
                     encoder.getPosition(),
                     clampedSetpoint
                 ) + feedForward.calculate(pidControllerUp.getSetpoint().velocity)
             );
-            
         });
 
     }