Elevator tune

src/main/java/frc/robot/RobotConstants.java

@@ -397,7 +397,11 @@ public static class ElevatorConstants {
                                 0.3);// 0.107853495
                 public static final TunableNumber L4_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/L4",
                                 0.4);
-                }
+                public static final TunableNumber ELEVATOR_ZEROING_CURRENT = new TunableNumber("Elevator zeroing current",
+                        30);
+
+        }
+
 
                 /**
                  * Constants for the elevator motor gains.

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

@@ -15,7 +15,7 @@
 import edu.wpi.first.wpilibj2.command.button.*;
 
 import frc.robot.auto.basics.AutoActions;
-import frc.robot.commands.RumbleCommand;
+import frc.robot.commands.*;
 import frc.robot.display.Display;
 import frc.robot.subsystems.apriltagvision.AprilTagVision;
 import frc.robot.subsystems.apriltagvision.AprilTagVisionIONorthstar;
@@ -118,6 +118,8 @@ private void configureDriverBindings(CommandXboxController driverController) {
                     }
                     lastResetTime = Timer.getFPGATimestamp();
                 }).ignoringDisable(true));
+
+
     }
 
     //Configure all commands for operator
@@ -131,6 +133,7 @@ private void configureTesterBindings(CommandXboxController controller) {
     controller.b().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(0.8),elevatorSubsystem).until(() ->elevatorSubsystem.isAtSetpoint(0.8)));
     controller.x().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(1.1),elevatorSubsystem).until(() ->elevatorSubsystem.isAtSetpoint(1.1)));
     controller.y().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(1.4),elevatorSubsystem).until(() ->elevatorSubsystem.isAtSetpoint(1.4)));
+    controller.povDown().onTrue(new ElevatorZeroingCommand(elevatorSubsystem));
     }
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/commands/ElevatorZeroingCommand.java

@@ -0,0 +1,39 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Robot;
+import frc.robot.subsystems.elevator.*;
+import edu.wpi.first.math.MathUtil;
+import frc.robot.RobotConstants;
+
+
+public class ElevatorZeroingCommand extends Command {
+    private ElevatorSubsystem elevator;
+
+    public ElevatorZeroingCommand(ElevatorSubsystem elevator) {
+        this.elevator = elevator;
+    }
+
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute(){
+        elevator.setVoltage(-0.5);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return elevator.getLeaderCurrent() > RobotConstants.ElevatorConstants.ELEVATOR_ZEROING_CURRENT.get();
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        elevator.setVoltage(0);
+        elevator.resetPosition();
+    }
+
+
+}

src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java

@@ -27,9 +27,15 @@ public default void stop() {
         setVoltage(0.0);
     }
 
+    public default double getLeaderCurrent(){
+        return getLeaderCurrent();
+    }
+
     public default void resetEncoder(double position) {}
 
     public default void resetEncoder() {
         resetEncoder(0.0);
     }
+
+    public default void resetPosition() {}
 }

src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java

@@ -59,8 +59,8 @@ public ElevatorIOReal() {
         currentLimitsConfigs = new CurrentLimitsConfigs();
         currentLimitsConfigs.StatorCurrentLimitEnable = true;
         currentLimitsConfigs.SupplyCurrentLimitEnable = true;
-        currentLimitsConfigs.StatorCurrentLimit = 60.0;
-        currentLimitsConfigs.SupplyCurrentLimit = 20.0;
+        currentLimitsConfigs.StatorCurrentLimit = 80.0;
+        currentLimitsConfigs.SupplyCurrentLimit = 30.0;
 
         leaderMotorConfigs = new MotorOutputConfigs();
         leaderMotorConfigs.NeutralMode = NeutralModeValue.Brake;
@@ -154,6 +154,16 @@ public void resetEncoder(final double position) {
         follower.setPosition(position);
     }
 
+    public double getLeaderCurrent(){
+        return leader.getStatorCurrent().getValueAsDouble();
+    }
+
+    public void resetPosistion(){
+        leader.setPosition(0.0);
+        follower.setPosition(0.0);
+    }
+
+
     private double getHeight() {
         return rotationsToMeters(leader.getPosition().getValueAsDouble());
     }

src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java

@@ -36,4 +36,12 @@ public double getPositionMeters() {
     public boolean isAtSetpoint(double setpoint) {
         return MathUtil.isNear(setpoint, inputs.positionMeters, DEADZONE_DISTANCE);
     }
+
+    public double getLeaderCurrent(){
+        return io.getLeaderCurrent();
+    }
+
+    public void resetPosition(){
+        io.resetPosition();
+    }
 }