fixing dt bindings divide by zero flaw

src/main/deploy/pathplanner/autos/1L4 + Algae Center.auto

@@ -45,6 +45,25 @@
           "data": {
             "name": "Shoot Algae"
           }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "HP Pickup"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Post-Barge Backup"
+                }
+              }
+            ]
+          }
         }
       ]
     }

src/main/deploy/pathplanner/paths/30 Right to HP.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.2587090163934425,
+        "x": 1.1268442622950818,
-        "y": 7.08186475409836
+        "y": 7.201741803278688
       },
       "prevControl": {
-        "x": 2.115173057489333,
+        "x": 2.287270519874242,
-        "y": 6.135246603413428
+        "y": 6.774371912194027
       },
       "nextControl": null,
       "isLocked": false,
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 2.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/330 Right to HP.path

@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 2.5,
+    "maxAcceleration": 3.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/HP to 330 Right.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2587090163934425,
+        "x": 1.1268442622950818,
-        "y": 7.08186475409836
+        "y": 7.201741803278688
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.550917920503032,
+        "x": 2.0019467213114757,
-        "y": 6.856479480125757
+        "y": 6.434528688524591
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
     },
     {
       "anchor": {
-        "x": 3.6442622950819668,
+        "x": 3.609900518622585,
-        "y": 5.031967213114754
+        "y": 5.005924534374863
       },
       "prevControl": {
-        "x": 3.328722911520323,
+        "x": 3.2943611350609414,
-        "y": 5.557866185717494
+        "y": 5.531823506977602
       },
       "nextControl": null,
       "isLocked": false,
@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.5,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/HP to K.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2587090163934425,
+        "x": 1.1268442622950818,
-        "y": 7.08186475409836
+        "y": 7.201741803278688
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7741803278688524,
+        "x": 1.9266540815180775,
-        "y": 6.530430327868851
+        "y": 6.744320542331013
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
@@ -20,8 +20,8 @@
         "y": 5.211782786885246
       },
       "prevControl": {
-        "x": 3.2246926229508195,
+        "x": 2.975085616438356,
-        "y": 6.230737704918033
+        "y": 6.023416095890411
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 5.0,
     "maxAcceleration": 1.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,

src/main/deploy/pathplanner/paths/L Backup.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.6442622950819668,
+        "x": 3.609900518622585,
-        "y": 5.031967213114754
+        "y": 5.005924534374863
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.5117625600811717,
+        "x": 3.47740078362179,
-        "y": 5.243966789116026
+        "y": 5.217924110376135
       },
       "isLocked": false,
       "linkedName": "L"
     },
     {
       "anchor": {
-        "x": 1.2587090163934425,
+        "x": 1.1268442622950818,
-        "y": 7.08186475409836
+        "y": 7.201741803278688
       },
       "prevControl": {
-        "x": 1.4625000000000001,
+        "x": 1.3306352459016395,
-        "y": 6.8061475409836065
+        "y": 6.926024590163935
       },
       "nextControl": null,
       "isLocked": false,
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 2.5,
+    "maxAcceleration": 3.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/New Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.756421232876712,
+        "y": 5.227054794520548
+      },
+      "prevControl": {
+        "x": 2.756421232876712,
+        "y": 5.227054794520548
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -59.18537788806707
+  },
+  "reversed": false,
+  "folder": "Left Paths",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Post-Barge Backup.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.032020547945206,
+        "y": 4.761258561643835
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.71311475409836,
+        "y": 4.9480532786885245
+      },
+      "isLocked": false,
+      "linkedName": "Pre-Barge"
+    },
+    {
+      "anchor": {
+        "x": 5.933913934426228,
+        "y": 5.247745901639345
+      },
+      "prevControl": {
+        "x": 6.641188524590164,
+        "y": 5.043954918032786
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Center",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Start to 30 Right.path

@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.5,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

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

@@ -7,7 +7,7 @@ package frc.robot;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.Logger;
-//import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 

src/main/java/frc/robot/RobotContainer.java

@@ -111,9 +111,9 @@ public class RobotContainer {
 
 		drivetrain.setDefaultCommand(
 			drivetrain.drive(
-				() -> driver.getLeftY() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
+				() -> driver.getLeftY(),
-				() -> driver.getLeftX() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
+				() -> driver.getLeftX(),
-				driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
+				() -> driver.getRightX(), 
 				() -> true
 			)
 		);
@@ -339,7 +339,7 @@ public class RobotContainer {
 					), 
 				manipulatorPivot.maintainPosition()
 					.withTimeout(
-						0.01
+						0.1
 					)
 			)
 		);
@@ -354,14 +354,24 @@ public class RobotContainer {
 
 		NamedCommands.registerCommand(
 			"Shoot Algae",
-			shootAlgae()
+			shootAlgae().withTimeout(2)   
 		);
 
 		NamedCommands.registerCommand(
 			"Processor Position", 
 			moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
-			.alongWith(manipulator.runManipulator(() -> 0.85, false))
+			.raceWith(manipulator.runManipulator(() -> 0.85, false))
-			.until(() -> driver.a().getAsBoolean())
+		);
+
+		NamedCommands.registerCommand(
+			"Pickup Algae L2", 
+			moveWithAlgae(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
+			.raceWith(manipulator.runManipulator(() -> 0.85, false))
+			.andThen(
+				elevator.maintainPosition()
+				.alongWith(manipulatorPivot.maintainPosition())).withTimeout(0.1)
+
+			//Dont you need a holdPosition call?
 		);
 	}
 
@@ -620,9 +630,9 @@ public class RobotContainer {
 
 	private Command shootAlgae(){
 		return manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
-		.andThen(elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		.andThen(elevator.goToSetpointAlgae(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
-		.raceWith(elevator.maintainPosition())).until(() -> elevator.getEncoderPosition()>43/* 44*/).andThen(manipulator.runManipulator(() -> -1, false),
+		.raceWith(elevator.maintainPosition())).until(() -> elevator.getEncoderPosition()>36/* 44*/).andThen(manipulator.runManipulator(() -> -1, false),
-		elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		elevator.goToSetpointAlgae(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
 		.raceWith(elevator.maintainPosition()));
 	}
 

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

@@ -16,6 +16,8 @@ public class AutoConstants {
     public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
     public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
 
+    public static final double kMaxSpeedMetersPerSecondAutoAlign = 2.5;
+
     public static final double kPXYController = 3.5;
     public static final double kPThetaController = 5;
 

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

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
 public class DrivetrainConstants {
     // Driving Parameters - Note that these are not the maximum capable speeds of
     // the robot, rather the allowed maximum speeds
-    public static final double kMaxSpeedMetersPerSecond = 5.5;
+    public static final double kMaxSpeedMetersPerSecond = 5.5 * 0.75;
     public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
 
     // Chassis configuration

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

@@ -56,6 +56,8 @@ public class ElevatorConstants {
 
     public static final double kVoltageLimit = 7;
 
+    public static final double kVoltageLimitAlgae = 9;
+
     // 1, 7, 10 are the defaults for these, change as necessary
     public static final double kSysIDRampRate = .25;
     public static final double kSysIDStepVolts = 3;

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

@@ -9,4 +9,6 @@ public class OIConstants {
     public static final String kAutoTab = "Auto Tab";
     public static final String kSensorsTab = "Sensors Tab";
     public static final String kApriltagTab = "Apriltag Tab";
+
+    public static final double kJoystickExponential = 3;
 }

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

@@ -85,6 +85,6 @@ public class VisionConstants {
         {5.322, 2.511}//22
     };
 
-    public static final double latencyFudge = 0.03;
+    public static final double latencyFudge = 0.0;
 
 }

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

@@ -111,8 +111,8 @@ public class Drivetrain extends SubsystemBase {
                 m_rearRight.getPosition()
             },
             new Pose2d(),
-            VecBuilder.fill(0.07, 0.7, Units.degreesToRadians(0.5)),
+            VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(5)),
-            VecBuilder.fill(1, 1, Units.degreesToRadians(4000))
+            VecBuilder.fill(1, 1, Units.degreesToRadians(360))
         );
 
         pidHeading = new ProfiledPIDController(AutoConstants.kAlignPThetaController, 0, 0, AutoConstants.kAlignThetaControllerConstraints);
@@ -177,17 +177,17 @@ public class Drivetrain extends SubsystemBase {
 
         gyroBuffer.addSample(Timer.getFPGATimestamp(), m_estimator.getEstimatedPosition().getRotation().getDegrees());
 
-        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(4000)));
+        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(360)));
 
         if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){
             if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.03, 0.03, Units.degreesToRadians(360)));
             }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
             }else if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
             }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
             }
 
             // if the detected tags match your alliances reef tags use their pose estimates  
@@ -204,17 +204,18 @@ public class Drivetrain extends SubsystemBase {
         Logger.recordOutput("orange dist", vision.getOrangeDist());
         Logger.recordOutput("orange detected", vision.getOrangeTagDetected());
         Logger.recordOutput("orange tag", vision.getOrangeTagDetected());
+        Logger.recordOutput("orange FPS", vision.getOrangeFPS());
 
 
         if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
             if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.03, 0.03, Units.degreesToRadians(360)));
             }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
             }else if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
             }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(4000)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
             }
 
             if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){
@@ -230,6 +231,7 @@ public class Drivetrain extends SubsystemBase {
         Logger.recordOutput("black dist", vision.getBlackDist());
         Logger.recordOutput("black detected", vision.getBlackTagDetected());
         Logger.recordOutput("black tag", vision.getBlackTagDetected());
+        Logger.recordOutput("black FPS", vision.getBlackFPS());
 
         Logger.recordOutput("drive velocity", getVelocity());
         Logger.recordOutput("closest tag", getClosestTag());
@@ -321,8 +323,18 @@ public class Drivetrain extends SubsystemBase {
      */
     public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
         // Convert the commanded speeds into the correct units for the drivetrain
-        double xSpeedDelivered = xSpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        double p = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
-        double ySpeedDelivered = ySpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        double xSpeedDelivered = 0;
+        double ySpeedDelivered = 0;
+
+        if(p != 0){
+            xSpeedDelivered = xSpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+            ySpeedDelivered = ySpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        }else{
+            xSpeedDelivered = 0;
+            ySpeedDelivered = 0;
+        }
+        
         double rotDelivered = rot * DrivetrainConstants.kMaxAngularSpeed;
 
         var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
@@ -360,8 +372,8 @@ public class Drivetrain extends SubsystemBase {
                 );
 
                 double speed = Math.hypot(controlEffort.vxMetersPerSecond, controlEffort.vyMetersPerSecond);
-                if (speed > AutoConstants.kMaxSpeedMetersPerSecond) {
+                if (speed > AutoConstants.kMaxSpeedMetersPerSecondAutoAlign) {
-                    double mul = AutoConstants.kMaxSpeedMetersPerSecond / speed;
+                    double mul = AutoConstants.kMaxSpeedMetersPerSecondAutoAlign / speed;
                     controlEffort.vxMetersPerSecond *= mul;
                     controlEffort.vyMetersPerSecond *= mul;
                 }

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

@@ -253,6 +253,64 @@ public class Elevator extends SubsystemBase {
         }
     }          
 
+    public Command goToSetpointAlgae(DoubleSupplier setpoint) {
+            
+        if (setpoint.getAsDouble() == 0) {
+            return startRun(() -> {
+        
+                pidControllerUp.reset();
+                pidControllerDown.reset();
+                pidControllerUp.setSetpoint(setpoint.getAsDouble());
+                pidControllerDown.setSetpoint(setpoint.getAsDouble());
+                
+                }, 
+                () -> {
+                    double upOutput = pidControllerUp.calculate(getEncoderPosition());
+                    double downOutput = pidControllerDown.calculate(getEncoderPosition());
+        
+                    if(setpoint.getAsDouble()>encoder.getPosition()) 
+                        elevatorMotor1.setVoltage( MathUtil.clamp(
+                            upOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    else{
+                        elevatorMotor1.setVoltage(
+                            MathUtil.clamp(
+                            downOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    }
+                
+                }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint())
+                    .andThen(runManualElevator(() -> -.5)
+                    .until(() -> encoder.getPosition() == 0));
+
+        } else {
+            return startRun(() -> {
+        
+                pidControllerUp.reset();
+                pidControllerDown.reset();
+                pidControllerUp.setSetpoint(setpoint.getAsDouble());
+                pidControllerDown.setSetpoint(setpoint.getAsDouble());
+        
+                },
+                () -> {
+                    double upOutput = pidControllerUp.calculate(getEncoderPosition());
+                    double downOutput = pidControllerDown.calculate(getEncoderPosition());
+        
+                    if(setpoint.getAsDouble()>encoder.getPosition()) 
+                        elevatorMotor1.setVoltage( MathUtil.clamp(
+                            upOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    else{
+                        elevatorMotor1.setVoltage(
+                            MathUtil.clamp(
+                            downOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    }
+                
+                }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint());
+        }
+    }   
+
     /**
      * Returns the current encoder position
      *