MD.2 application

src/main/java/frc/robot/commands/DaleCommands/ArmToAngleAndSpinFlywheel.java

@@ -34,7 +34,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     armPlusFlywheel.stopFlywheel(); // Stop the flywheel
-    elevatorSubsystem.elevateTo(ElevatorPositions.safePosition);
+    elevatorSubsystem.setHeight(ElevatorPositions.safePosition);
   }
 
   @Override

src/main/java/frc/robot/commands/ElevatorCommands/DefaultElevator.java

@@ -41,7 +41,7 @@ public void execute() {
     // }
 
     if (!CoralPosition.isCoralInTootsieSlide()) {
-      elevatorSubsystem.elevateTo(ElevatorPositions.Intake);
+      elevatorSubsystem.setHeight(ElevatorPositions.Intake);
     }
   }
 

src/main/java/frc/robot/commands/ElevatorCommands/ElevatorHoldL4.java

@@ -15,7 +15,7 @@ public ElevatorHoldL4(ElevatorSubsystem elevatorSubsystem) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    elevatorSubsystem.elevateTo(ElevatorPositions.LIMIT_OF_TRAVEL);
+    elevatorSubsystem.setHeight(ElevatorPositions.LIMIT_OF_TRAVEL);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevel.java

@@ -25,10 +25,10 @@ public void initialize() {}
   public void execute() {
     if (checkIfCoralInTootsie) {
       if (CoralPosition.isCoralInTootsieSlide()) {
-        elevatorSubsystem.elevateTo(pos);
+        elevatorSubsystem.setHeight(pos);
       }
     } else {
-      elevatorSubsystem.elevateTo(pos);
+      elevatorSubsystem.setHeight(pos);
     }
   }
 

src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevelInstant.java

@@ -19,7 +19,7 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    elevatorSubsystem.elevateTo(pos);
+    elevatorSubsystem.setHeight(pos);
   }
 
   @Override

src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorHardStop.java

@@ -34,7 +34,7 @@ public void execute() {
   public void end(boolean interrupted) {
     DogLog.log("subsystems/Elevator/ZeroElevatorHardStop/running", false);
     if (!interrupted) {
-      elevatorSubsystem.resetElevatorPositionToZero();
+      elevatorSubsystem.zeroElevator();
     }
     elevatorSubsystem.resetCurrentLimits();
     elevatorSubsystem.elevatorHasBeenZeroed();

src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorToFFiltered.java

@@ -19,7 +19,7 @@ public ZeroElevatorToFFiltered(ElevatorSubsystem subsystem) {
   public void initialize() {
     ticksAtPosition = 0;
     DogLog.log("subsystems/Elevator/ZeroElevatorToFFiltered/running", true);
-    elevatorSubsystem.elevateTo(ElevatorPositions.Intake);
+    elevatorSubsystem.setHeight(ElevatorPositions.Intake);
   }
 
   @Override