@@ -7,34 +7,42 @@ public class ClimbCommands {
   public final ClimbSubsystem climb;
 
   /**

@@ -0,0 +65,4 @@
+  }
+
+  /** Enum that holds the combined states for both the wrist and elevator positions. */
+  public enum ElevatorWristState {

@@ -0,0 +99,4 @@
+  }
+
+  /** This command sets both a elevator position and a wrist position. */
+  public Command setElevatorWrist(ElevatorWristState state) {

@@ -0,0 +112,4 @@
+   * moving the elevator all the way down, rehoming it for good measure, and then resetting it's
+   * PID.
+   */
+  public Command reset() {

@@ -36,4 +30,4 @@
 
   private final GenericHID controller;
 
   /**

@@ -188,21 +200,20 @@ public class RobotCommands {
 
   /**

@@ -200,0 +207,4 @@
+   * edu.wpi.first.wpilibj.GenericHID.RumbleType#kBothRumble kBothRumble}. This makes all motors on
+   * a controller rumble.
+   *
+   * @return A command that does what is described above for 0.3 seconds, then returns rumble to 0.

@@ -18,294 +26,287 @@ import org.ironriders.lib.RobotUtils;
 import org.ironriders.targeting.TargetingCommands;

@@ -1,131 +1,132 @@
 package org.ironriders.wrist;

@@ -111,0 +201,4 @@
+      return controlSpeedMultipler;
+    }
+    return 1;
+  }

@@ -111,0 +212,4 @@
+      notifyWarning(new Notification("Offset not set!", "Bad things will happen!"));
+    }
+
+    double offsetRotation = getRotation() - positionOffset;

@@ -111,0 +231,4 @@
+  /**
+   * Is there a coral piece triggering the sensor?. (You have to have a period)
+   *
+   * @return well is there?

@@ -111,4 +236,4 @@
   public boolean beamBreakTriggered() {
     return !beamBreak.get();
   }