Merge branch 'Group_3' of https://github.com/FRC1257/Subsystem-Development into Group_3

Author: Arman1291

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

@@ -41,11 +41,10 @@ default double getVelocity(){
         return 0.0;
     }
 
+    // Calculates applied motor voltage
     default double getAppliedVoltage(){
         return 0.0;
     }
-
-    default void setRPM(double rpm){}
 
     // Checking if elevator goes above limit height
     default boolean isLimitSwitchPressed() {

src/main/java/frc/robot/subsystems/elevator/ElevatorIOSparkMax

@@ -23,7 +23,7 @@ public class ElevatorIOSparkMax implements ElevatorIO {
 private SparkMax leftMotor;
   // right follows left
   private SparkMax rightMotor;
-  private RelativeEncoder leftEncoder;
+  private RelativeEncoder leftEncoder; 
 
 
 public class ElevatorIOSparkMax {
@@ -127,7 +127,10 @@ public class ElevatorIOSparkMax {
     setVoltage(math.util.clamp(pidOutput, -ElevatorConstants.MAX_VOLTAGE, ElevatorConstants.MAX_VOLTAGE));
   }
 
-  
+  @Override
+  public boolean atSetpoint() {
+    return pidController.atSetpoint();
+  }
 
 }
 }