command to zero elevator and move to elevator setpoints

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

@@ -27,7 +27,7 @@
 import frc.robot.sim.SimWorld;
 import frc.robot.subsystems.algaePivot.AlgaePivotInterface;
 import frc.robot.subsystems.algaePivot.AlgaePivotSubsystem;
-import frc.robot.subsystems.algaePivot.PhysicalAlgaePivot;
+import frc.robot.subsystems.algaePivot.PhysicalAlgaePivot
 import frc.robot.subsystems.algaePivot.SimulatedAlgaePivot;
 import frc.robot.subsystems.coralIntake.CoralIntakeInterface;
 import frc.robot.subsystems.coralIntake.CoralIntakeSubsystem;
@@ -196,9 +196,11 @@ private void configureOperatorController() {
         .x()
         .whileTrue(new SetElevatorPosition(elevatorSubsystem, ElevatorConstants.INTAKE_SETPOINT));
     operatorController.rightBumper().whileTrue(new EjectCoral(coralIntakeSubsystem));
-
     operatorController
         .a()
+        .whileTrue(new SetElevatorPosition(elevatorSubsystem, ElevatorConstants.LEVEL_FEEDER));
+    operatorController
+        .rightBumper()
         .whileTrue(new ManualElevator(elevatorSubsystem, () -> operatorController.getLeftY()));
   }
 

src/main/java/frc/robot/commands/elevator/SetElevatorPosition.java

@@ -10,9 +10,15 @@
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class SetElevatorPosition extends Command {
   ElevatorSubsystem elevatorSubsystem;
+
   double position;
 
-  /** Creates a new SetElevatorPosition. */
+  /**
+   * Creates a new SetElevatorPosition.
+   *
+   * @param elevatorSubsystem The subsystem used by this command.
+   * @param position The position to set the elevator to in meters.
+   */
   public SetElevatorPosition(ElevatorSubsystem elevatorSubsystem, double position) {
     this.elevatorSubsystem = elevatorSubsystem;
     this.position = position;

src/main/java/frc/robot/commands/elevator/ZeroElevator.java

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.elevator;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.ElevatorConstants;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ZeroElevator extends Command {
+  /** Creates a new ZeroElevator. */
+  ElevatorSubsystem elevatorSubsystem;
+
+  public ZeroElevator(ElevatorSubsystem elevatorSubsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.elevatorSubsystem = elevatorSubsystem;
+    addRequirements(elevatorSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    elevatorSubsystem.setElevatorPosition(ElevatorConstants.MIN_HEIGHT); // zeroes it
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -41,6 +41,9 @@ public class ElevatorConstants {
   public static final double REVERSE_LIMIT = 0.10;
   public static final boolean REVRESE_LIMIT_ENABLE = false;
 
-  // Setpoints
-  public static final double INTAKE_SETPOINT = -1.25;
+  // Elevator setpoints
+  public static final double LEVEL_1 = 59;
+  public static final double LEVEL_2 = 118;
+  public static final double LEVEL_3 = 177;
+  public static final double LEVEL_FEEDER = -1.25;
 }

vendordeps/AdvantageKit.json

@@ -1,7 +1,7 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "4.0.0",
+  "version": "4.1.0",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
   "frcYear": "2025",
   "mavenUrls": [
@@ -12,21 +12,22 @@
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-java",
-      "version": "4.0.0"
+      "version": "4.1.0"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-wpilibio",
-      "version": "4.0.0",
+      "version": "4.1.0",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [
         "linuxathena",
-        "windowsx86-64",
         "linuxx86-64",
-        "osxuniversal"
+        "linuxarm64",
+        "osxuniversal",
+        "windowsx86-64"
       ]
     }
   ],