@@ -99,6 +99,8 @@ tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
 

@@ -0,0 +3,4 @@
+import edu.wpi.first.math.interpolation.Interpolatable;
+
+
+/**Implement using TreeMapInterpolator*/

@@ -0,0 +4,4 @@
+
+
+/**Implement using TreeMapInterpolator*/
+public class ExponentialInterpolator implements Interpolatable<ExponentialInterpolator>, InverseInterpolator<ExponentialInterpolator> {

@@ -0,0 +1,103 @@
+package frc.Lib.MotionProfiles;

@@ -176,6 +183,22 @@ public final class Constants {
             kMaxAngularSpeedRadiansPerSecond,
             kMaxAngularSpeedRadiansPerSecondSquared
         );

@@ -35,0 +58,4 @@
+        } else {
+            setUseTiming(false); // Run as fast as possible
+            String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
+            Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log

@@ -245,0 +256,4 @@
+          Map.of("init retract", new IntakeCommand(m_intake, 0.5).withTimeout(0.8)))
+          .build();
+      }
+

@@ -90,3 +105,3 @@
-    public void moveElevator(Double setpoint) {
+    public void moveElevator(double setpoint) {
       // read PID coefficients from SmartDashboard
       double p = SmartDashboard.getNumber("P Gain", 1);

@@ -42,7 +42,7 @@ public class ChargeStationStates {
     }

@@ -0,0 +37,4 @@
+
+        public double position; //rotations
+        public double velocity; //rpm
+

@@ -0,0 +10,4 @@
+import frc.robot.Subsystems.ElevatorSubsystem;
+
+//bind this command to a trigger in RobotContainer for testing
+public class ElevatorDirectProfileCommand extends CommandBase {