slides pid tuning

ftc13100 · Nov 28, 2024 · 34accb4 · 34accb4
1 parent 6b6bad1
commit 34accb4
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Showing 15 changed files with 58 additions and 45 deletions.
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/elevator/SpinDownCommand.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/elevator/SpinDownCommand.kt
@@ -1,10 +1,10 @@
 package org.firstinspires.ftc.teamcode.commands.elevator
 
 import com.arcrobotics.ftclib.command.CommandBase
-import org.firstinspires.ftc.teamcode.subsystems.slides.OpenSlidesSubsystem
+import org.firstinspires.ftc.teamcode.subsystems.slides.OpenElevatorSubsystem
 
 class SpinDownCommand(
-    private val subsystem: OpenSlidesSubsystem
+    private val subsystem: OpenElevatorSubsystem
 ) : CommandBase() {
 
 

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/elevator/SpinUpCommand.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/elevator/SpinUpCommand.kt
@@ -1,10 +1,10 @@
 package org.firstinspires.ftc.teamcode.commands.elevator
 
 import com.arcrobotics.ftclib.command.CommandBase
-import org.firstinspires.ftc.teamcode.subsystems.slides.OpenSlidesSubsystem
+import org.firstinspires.ftc.teamcode.subsystems.slides.OpenElevatorSubsystem
 
 class SpinUpCommand(
-    private val subsystem: OpenSlidesSubsystem
+    private val subsystem: OpenElevatorSubsystem
 ) : CommandBase() {
 
     override fun execute() {

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/constants/SlidesConstants.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/constants/SlidesConstants.kt
@@ -1,7 +1,7 @@
 package org.firstinspires.ftc.teamcode.constants
 
 enum class SlidesConstants(val value: Double) {
-    kP(0.0),
+    kP(0.03),
     kI(0.0),
-    kD(0.0),
+    kD(0.0004),
 }
diff --git a/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/left/BlueHighBasketLeft.kt b/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/left/BlueHighBasketLeft.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @Autonomous(name = "Blue High Basket Left", group = "Basket", preselectTeleOp = "MainTeleOp")
 class BlueHighBasketLeft: OpMode() {
@@ -23,7 +23,7 @@ class BlueHighBasketLeft: OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
 //        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -37,29 +37,29 @@ class BlueHighBasketLeft: OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
 //        intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_LEFT.startPose)
-            .turn(Math.toRadians(90.0))
-            .forward(60.0)
+            .turn(Math.toRadians(-90.0))
+            .back(60.0)
             .addTemporalMarker(3.0) {
                 armSubsystem.setpoint = Math.toRadians(95.0)
             }
             .waitSeconds(1.0)
             .addTemporalMarker(6.0) {
-                elevatorSubsystem.setpoint = 250.0
+                elevatorSubsystem.setpoint = 1000.0
             }
             .waitSeconds(2.0)
 //            .addTemporalMarker(5.0){
 //                intakeSubsystem.outtake()
 //            }
             .waitSeconds(1.0)
             .addTemporalMarker(10.0) {
-                elevatorSubsystem.setpoint = 0.0
+                elevatorSubsystem.setpoint = 50.0
             }
             .waitSeconds(2.0)
             .addTemporalMarker(13.0) {
-                armSubsystem.setpoint = Math.toRadians(0.0)
+                armSubsystem.setpoint = Math.toRadians(5.0)
             }
             .build()
 

diff --git a/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/right/BlueHighBasketRight.kt b/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/right/BlueHighBasketRight.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 
 @Autonomous(name = "Blue High Basket Right", group = "Basket", preselectTeleOp = "MainTeleOp")
@@ -25,7 +25,7 @@ class BlueHighBasketRight() : OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
         intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -39,17 +39,17 @@ class BlueHighBasketRight() : OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
         intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_RIGHT.startPose)
             .turn(Math.toRadians(90.0))
             .forward(35.0)
             .addTemporalMarker(2.0) {
-                armSubsystem.setpoint = Math.toRadians(150.0)
+                armSubsystem.setpoint = Math.toRadians(90.0)
             }
             .waitSeconds(1.0)
             .addTemporalMarker(3.0) {
-                elevatorSubsystem.setpoint = 2.0
+                elevatorSubsystem.setpoint = 200.0
             }
             .waitSeconds(2.0)
             .addTemporalMarker(5.0){

diff --git a/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/left/BlueHighChamberLeft.kt b/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/left/BlueHighChamberLeft.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @Autonomous(name = "Blue High Chamber Left", group = "Chamber", preselectTeleOp = "MainTeleOp")
 class BlueHighChamberLeft() : OpMode() {
@@ -23,7 +23,7 @@ class BlueHighChamberLeft() : OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
         intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -37,7 +37,7 @@ class BlueHighChamberLeft() : OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
         intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_LEFT.startPose)
 

diff --git a/...in/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/right/BlueHighChamberRight.kt b/...in/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/right/BlueHighChamberRight.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @Autonomous(name = "Blue High Chamber Right", group = "Chamber", preselectTeleOp = "MainTeleOp")
 class BlueHighChamberRight() : OpMode() {
@@ -23,7 +23,7 @@ class BlueHighChamberRight() : OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
         intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -37,7 +37,7 @@ class BlueHighChamberRight() : OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
         intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_RIGHT.startPose)
 

diff --git a/...n/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/left/RedHighBasketLeft.kt b/...n/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/left/RedHighBasketLeft.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @Autonomous(name = "Red High Basket Left", group = "Basket", preselectTeleOp = "MainTeleOp")
 class RedHighBasketLeft() : OpMode() {
@@ -24,7 +24,7 @@ class RedHighBasketLeft() : OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
         intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -38,7 +38,7 @@ class RedHighBasketLeft() : OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
         intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_LEFT.startPose)
             .turn(Math.toRadians(90.0))

diff --git a/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/right/RedHighBasketRight.kt b/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/right/RedHighBasketRight.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @Autonomous(name = "Red High Basket Right", group = "Basket", preselectTeleOp = "MainTeleOp")
 class RedHighBasketRight() : OpMode() {
@@ -23,7 +23,7 @@ class RedHighBasketRight() : OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
         intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -37,7 +37,7 @@ class RedHighBasketRight() : OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
         intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_RIGHT.startPose)
             .turn(Math.toRadians(90.0))

diff --git a/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/left/RedHighChamberLeft.kt b/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/left/RedHighChamberLeft.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @Autonomous(name = "Red High Chamber Left", group = "Chamber", preselectTeleOp = "MainTeleOp")
 class RedHighChamberLeft() : OpMode() {
@@ -23,7 +23,7 @@ class RedHighChamberLeft() : OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
         intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -37,7 +37,7 @@ class RedHighChamberLeft() : OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
         intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_LEFT.startPose)
 

diff --git a/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/right/RedHighChamberRight.kt b/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/right/RedHighChamberRight.kt
@@ -9,7 +9,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @Autonomous(name = "Red High Chamber Right", group = "Chamber", preselectTeleOp = "MainTeleOp")
 class RedHighChamberRight() : OpMode() {
@@ -23,7 +23,7 @@ class RedHighChamberRight() : OpMode() {
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
-    private lateinit var elevatorSubsystem: SlidesSubsytem
+    private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
         intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
@@ -37,7 +37,7 @@ class RedHighChamberRight() : OpMode() {
         driveSubsystem = DriveSubsystem(hardwareMap)
         intakeSubsystem = IntakeSubsystem(intake)
         armSubsystem = ArmSubsystem(armRight, armLeft)
-        elevatorSubsystem = SlidesSubsytem(elevatorRight, elevatorLeft)
+        elevatorSubsystem = ElevatorSubsystem(elevatorRight, elevatorLeft)
 
         val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_RIGHT.startPose)
 

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt
@@ -15,7 +15,7 @@ import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.OpenArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
-import org.firstinspires.ftc.teamcode.subsystems.slides.OpenSlidesSubsystem
+import org.firstinspires.ftc.teamcode.subsystems.slides.OpenElevatorSubsystem
 
 @TeleOp
 class MainTeleOp : CommandOpMode() {
@@ -25,7 +25,7 @@ class MainTeleOp : CommandOpMode() {
     private lateinit var armRight: Motor
     //private lateinit var intake: CRServo
 
-    private lateinit var slidesSubsystem: OpenSlidesSubsystem
+    private lateinit var slidesSubsystem: OpenElevatorSubsystem
     private lateinit var armSubsystem: OpenArmSubsystem
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
@@ -54,7 +54,7 @@ class MainTeleOp : CommandOpMode() {
 
         //intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
 
-        slidesSubsystem = OpenSlidesSubsystem(elevatorRight, elevatorLeft)
+        slidesSubsystem = OpenElevatorSubsystem(elevatorRight, elevatorLeft)
         armSubsystem = OpenArmSubsystem(armRight, armLeft)
         driveSubsystem = DriveSubsystem(hardwareMap)
         //intakeSubsystem = IntakeSubsystem(intake)

diff --git a/...de/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/slides/SlidesPIDTuner.kt b/...de/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/slides/SlidesPIDTuner.kt
@@ -8,23 +8,23 @@ import com.arcrobotics.ftclib.command.RunCommand
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
-import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem
+import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 @TeleOp
 @Config
 class SlidesPIDTuner : CommandOpMode() {
     private lateinit var armLeft: Motor
     private lateinit var armRight: Motor
 
-    private lateinit var slidesSubsystem: SlidesSubsytem
+    private lateinit var slidesSubsystem: ElevatorSubsystem
 
     override fun initialize() {
         telemetry = MultipleTelemetry(telemetry, FtcDashboard.getInstance().telemetry)
 
         armLeft = Motor(hardwareMap, ControlBoard.SLIDES_LEFT.deviceName, Motor.GoBILDA.RPM_1150)
         armRight = Motor(hardwareMap, ControlBoard.SLIDES_RIGHT.deviceName, Motor.GoBILDA.RPM_1150)
 
-        slidesSubsystem = SlidesSubsytem(armRight, armLeft)
+        slidesSubsystem = ElevatorSubsystem(armRight, armLeft)
 
         RunCommand({
             slidesSubsystem.setpoint = target

diff --git a/...mcode/subsystems/slides/SlidesSubsytem.kt → ...de/subsystems/slides/ElevatorSubsystem.kt b/...mcode/subsystems/slides/SlidesSubsytem.kt → ...de/subsystems/slides/ElevatorSubsystem.kt
@@ -8,7 +8,7 @@ import org.firstinspires.ftc.teamcode.constants.SlidesConstants
 import org.firstinspires.ftc.teamcode.utils.PIDSubsystem
 
 @Config
-class SlidesSubsytem(
+class ElevatorSubsystem(
     elevatorRight : Motor,
     elevatorLeft : Motor
 ) : PIDSubsystem(
@@ -28,14 +28,27 @@ class SlidesSubsytem(
 
     init {
         elevatorRight.inverted = true
+        elevatorRight.encoder.setDirection(Motor.Direction.REVERSE)
 
         extendMotors.resetEncoder()
         extendMotors.setZeroPowerBehavior(Motor.ZeroPowerBehavior.BRAKE)
     }
 
     override fun useOutput(output: Double, setpoint: Double) {
+        controller.setPIDF(kP, kI, kD, 0.0)
         extendMotors.set(output)
     }
 
     override fun getMeasurement() = slidePos
+
+    companion object {
+        @JvmField
+        var kP = 0.0
+
+        @JvmField
+        var kI = 0.0
+
+        @JvmField
+        var kD = 0.0
+    }
 }
diff --git a/.../subsystems/slides/OpenSlidesSubsystem.kt → ...ubsystems/slides/OpenElevatorSubsystem.kt b/.../subsystems/slides/OpenSlidesSubsystem.kt → ...ubsystems/slides/OpenElevatorSubsystem.kt
@@ -4,7 +4,7 @@ import com.arcrobotics.ftclib.command.SubsystemBase
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.arcrobotics.ftclib.hardware.motors.MotorGroup
 
-class OpenSlidesSubsystem(
+class OpenElevatorSubsystem(
     //sets them as a private variable thats a motor (same name as in driver hub)
     elevatorLeft: Motor,
     elevatorRight: Motor,