Cleaned up code a bit

Got rid of unnecessary spaces, made it easier to look at

src/main/java/frc/Subsystems/ElevatorSubsystem.java

@@ -1,32 +1,13 @@
 // Copyright (c) FIRST and other WPILib contributors.
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 // 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.
 
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 package frc.Subsystems;
 
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 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonFX;
 
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 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
@@ -36,7 +17,6 @@
 import frc.robot.Constants.Elevator;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
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 public class ElevatorSubsystem extends SubsystemBase {
  /** Creates a new ExampleSubsystem. */
  private TalonFX left_motor;
@@ -58,18 +38,16 @@ public ElevatorSubsystem() {
     right_motor.clearStickyFaults();
    left_motor.clearStickyFaults();
 
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    right_motor.configForwardSoftLimitThreshold(
        0, 0); // this is the bottom limit, we stop AT the bottom
+
    // right_motor.configReverseSoftLimitThreshold(
    //     -heightToTicks(24), 0); // this is the top limit, we stop at the very top
    right_motor.configForwardSoftLimitEnable(true, 0);
    right_motor.configReverseSoftLimitEnable(true, 0);
 
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    right_motor.configOpenloopRamp(.5);
 
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    left_motor.setSelectedSensorPosition(0);
    right_motor.setSelectedSensorPosition(0);
 
@@ -85,7 +63,9 @@ public ElevatorSubsystem() {
    targetHeight = 0;
 
    motorPower = 0;
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  pidController = new PIDController(0.34, 0, 0.02);
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  //pidController.setTolerance(0.7,0.001);
    ElevatorTab.addNumber("Current Motor Power", () -> this.motorPower);
    ElevatorTab.addNumber("Target Height", () -> this.targetHeight);
@@ -110,27 +90,25 @@ public static double inchesToTicks(double height) {
    public static double ticksToInches(double ticks) {
      return (ticks * Elevator.GEAR_CIRCUMFERENCE) / (Elevator.TICKS_PER_REVOLUTION * Elevator.GEAR_RATIO);
    }
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    public void setTargetHeight(double targetHeight) {    
      this.targetHeight = targetHeight;                                  
      pidController.setSetpoint(targetHeight); } 
 
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 public boolean nearTargetHeight(){
    if(targetHeight -0.5 <= currentHeight && currentHeight <= targetHeight + 0.5){
     return true;
    }else{
     return false;
    }
  }
+
  @Override
  public void periodic() {
    // This method will be called once per scheduler run
    motorPower = pidController.calculate(currentHeight);
        left_motor.set(TalonFXControlMode.PercentOutput, -(MathUtil.clamp(motorPower + 0.02, -0.5,0.5)));
        currentHeight = ticksToInches(-left_motor.getSelectedSensorPosition());
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       }
    // left_motor.set(TalonFXControlMode.PercentOutput, -(0.1));
 

src/main/java/frc/robot/Commands/ElevatorBaseCommand.java

@@ -2,21 +2,17 @@
 // 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.
 
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 package frc.robot.Commands;
 
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 import frc.Subsystems.ElevatorSubsystem;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
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 /** An example command that uses an example subsystem. */
 public class ElevatorBaseCommand extends CommandBase {
  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
  private final ElevatorSubsystem elevatorSubsystem;
 public double targetHeight;
 
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  /**
   * Creates a new ExampleCommand.
   *
@@ -29,28 +25,20 @@ public ElevatorBaseCommand(ElevatorSubsystem elevatorSubsystem, double targetHei
    addRequirements(elevatorSubsystem);
  }
 
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  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    elevatorSubsystem.setTargetHeight(targetHeight);
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  }
 
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  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {}
 
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  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {}
 
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  // Returns true when the command should end.
  @Override
  public boolean isFinished() {

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

@@ -6,7 +6,6 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.Subsystems.ElevatorSubsystem;
 
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 /**
 * This class is where the bulk of the robot should be declared. Since Command-based is a
 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
@@ -17,14 +16,11 @@ public class RobotContainer {
  // The robot's subsystems and commands are defined here...
  private final ElevatorSubsystem elevatorSubsystem = new ElevatorSubsystem();
 
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 private ElevatorBaseCommand ElevatorBaseCommand = new ElevatorBaseCommand(elevatorSubsystem, 0);
 
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  private final CommandXboxController driverA = new CommandXboxController(0);
  private double targetHeight;
 
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  /** The container for the robot. Contains subsystems, OI devices, and commands. */
  public RobotContainer() {
 
@@ -36,16 +32,13 @@ public RobotContainer() {
    driverA.a().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 3));
  }
 
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  /**
   * Use this method to define your button->command mappings. Buttons can be created by
   * instantiating a {@link GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
  private void configureButtonBindings() {}
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  /**
   * Use this to pass the autonomous command to the main {@link Robot} class.
   *