Squashed commit of the following:

commit f82a33d
Author: Talon540-root <122660543+Talon540-root@users.noreply.github.com>
Date:   Mon Mar 10 15:46:43 2025 -0400

    Moved hardware IDs to respective subsystem constants files

commit 9a6732f
Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date:   Sun Mar 9 13:26:05 2025 -0400

    Fix drive PID Coefficients and Deep Run Changes

    commit 8773d7d
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Mar 8 23:35:34 2025 -0500

        Semi-final PID Coefficients

    commit d390ead
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Mar 5 01:01:36 2025 -0500

        Reimplement I term into SparkMax PID Controllers

        Revert "Reimplement I term into SparkMax PID Controllers"

        This reverts commit 553d51a.

        proto drive I term and IZone

    commit 72df17d
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Mar 5 00:49:10 2025 -0500

        Update tunable number API to avoid redundant resets and call correct static overrides

    commit 8072903
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Tue Mar 4 23:39:29 2025 -0500

        update vendor deps

    commit f47b2de
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Tue Mar 4 23:27:50 2025 -0500

        stuff for ayush to fix

    commit 813d3df
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Tue Mar 4 14:04:32 2025 -0500

        add algae mode

    commit 2391b50
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Mon Mar 3 09:49:19 2025 -0500

        Add robot relative override

    commit db57af5
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Mar 1 19:01:14 2025 -0500

        add wait period to checking intake when enabling immediately after elevator (fix this later to be better)

    commit c8e1dbb
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Mar 1 19:00:45 2025 -0500

        make eject configurable based on level

    commit 26c56be
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Mar 1 19:00:19 2025 -0500

        add taxi auto

    commit 60ebba7
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Mar 1 19:00:08 2025 -0500

        remove intake timeout

    commit 773704f
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 12:44:29 2025 -0500

        add reserialize command

    commit fd13f3f
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 12:44:13 2025 -0500

        update dispenser eject to be faster

        also goes back to stow automatically

    commit 5b7bf78
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 12:42:38 2025 -0500

        Rename holdingCoral to better match lombok

    commit 3d7c324
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 12:41:47 2025 -0500

        stop elevator from honing on gyro reset

    commit f17c272
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 12:41:19 2025 -0500

        Make intake toggleable

    commit de0014c
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 12:40:28 2025 -0500

        Make slow mode toggleable and cleanup changes from Thursday

    commit e9c1694
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 10:51:20 2025 -0500

        idk if this matters

    commit 24e9f2b
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 10:50:57 2025 -0500

        Auto hone elevator on start

    commit eda4d4b
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 10:50:05 2025 -0500

        Fix characterization DT bug

    commit a6ac1fe
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Fri Feb 28 10:49:23 2025 -0500

        fix merge

    commit 32aca1e
    Author: Talon540-root <122660543+Talon540-root@users.noreply.github.com>
    Date:   Thu Feb 27 01:05:11 2025 -0500

        tuning stuff

    commit 1b9467e
    Merge: 07083ba 2e7b277
    Author: Talon540-root <122660543+Talon540-root@users.noreply.github.com>
    Date:   Wed Feb 26 18:55:24 2025 -0500

        Merge branch 'sriman-dev' of https://github.com/Talon540Programming/Reefscape2025 into sriman-dev

    commit 2e7b277
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 26 18:48:56 2025 -0500

        Create ElevatorVisualizer.java

    commit b32b9fc
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 26 18:48:48 2025 -0500

        Update RobotContainer.java

    commit 6cfc8e3
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 26 14:57:45 2025 -0500

        Update LoggedTunableNumber.java

    commit e7fadb7
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 26 11:20:15 2025 -0500

        schedule home command if not homed on teleop init

    commit 1d3b191
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 26 10:24:53 2025 -0500

        add proto auto intake

    commit d1f8beb
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 26 10:24:33 2025 -0500

        add sprint

    commit d267a5f
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 26 01:54:57 2025 -0500

        add elevator and end effector subsystems

    commit 07083ba
    Author: Talon540-root <122660543+Talon540-root@users.noreply.github.com>
    Date:   Wed Feb 26 01:36:12 2025 -0500

        fixes

    commit ee57f87
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Tue Feb 25 22:03:17 2025 -0500

        WIP

    commit 9f9de79
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Tue Feb 25 03:29:28 2025 -0500

        Update IO

    commit ba09067
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Mon Feb 24 14:36:57 2025 -0500

        Implement ElevatorIO

    commit 19e3976
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Mon Feb 24 14:36:49 2025 -0500

        Implement DispenserIO

    commit bd348ee
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Mon Feb 24 14:36:40 2025 -0500

        Make sim models non static

        avoids building creating these objects when running as non-sim

    commit 1baa58d
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Mon Feb 24 11:09:27 2025 -0500

        Add updatable debouncer

    commit ba6e299
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Mon Feb 24 05:03:14 2025 -0500

        Update EqualsUtil.java

    commit fb12507
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sun Feb 23 13:58:29 2025 -0500

        Update FieldConstants.java

    commit 96f6eae
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Feb 22 10:40:15 2025 -0500

        dont make conversion factors variables

    commit 4343534
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Feb 22 10:39:38 2025 -0500

        explicitly set motor temp signals

    commit e8fbd80
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Feb 22 01:28:04 2025 -0500

        Update Intake

    commit 6adf211
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Feb 22 01:05:32 2025 -0500

        Fix DT bug

    commit ca2f600
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Feb 22 00:53:08 2025 -0500

        Update robot constants to match bot

    commit 68e75f9
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 19 23:34:57 2025 -0500

        Add intake subsystem

    commit de577e5
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 19 21:47:57 2025 -0500

        fix akit version mismatch

    commit 2a1068c
    Merge: 420fa3d 3be2661
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sun Feb 16 15:45:12 2025 -0500

        Merge branch 'main' into sriman-dev

    commit 3be2661
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sun Feb 16 15:43:57 2025 -0500

        Update stuff (#7)

        * Implement Full Logging and Drivetrain Subsystem (#1)

        * Da Code

        * Add alerts on drive spark maxes

        * Add Config Changes from Meeting

        * Other lil bs

        * Add automatic brake disable on robot disable

        * add odometry

        * add SIM module

        * Add DriveCommands

        * Update RobotContainer.java

        * Formatting fixes

        * Misc Fixes

        * Add low voltage warning for DT

        * Add velocity scalars for DT

        * Update PID Coefficents and fix odometry issues

        * Update URCL.json

        ---------

        Fix CI

        Co-Authored-By: Talon540-root <122660543+Talon540-root@users.noreply.github.com>

        * Increase voltage warning on battery and add CAN error alert

        * clean

        * Fix Modules Falsely Reporting as Disconnected

        * Cleanup typing, make errors more obvious

        * Cleanup dashboard setting stuff

        * Update sim characterization constants to be more accurate, stops a massive overshooting for some reason

        * Log drive motor temps

        * Formatting fixes

        * Inline tuning mode alert

        * Rename RobotState to PoseEstimator

        Because only vision and drive will interact with pose (and purely position) and no other robot state is tracked, it makes more sense for this to be renammed to reflect that.

        * Refactor abstract alerts into util class to later roll into LEDs

        * Update Phoenix6 to 2025.2.2

        * Refactor code structure to not over-expose subsystem specific stuff

        * Shorten name for drive temp

        * Fix red alliance drive commands bug

        * Update WPILIB to 2025.3.1

        ---------

        Co-authored-by: Talon540-root <122660543+Talon540-root@users.noreply.github.com>

    commit 420fa3d
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sun Feb 16 15:38:07 2025 -0500

        Update WPILIB to 2025.3.1

    commit 5b6968a
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Thu Feb 13 01:44:37 2025 -0500

        Fix red alliance drive commands bug

    commit 2952998
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Feb 15 01:43:00 2025 -0500

        Shorten name for drive temp

    commit b2626e8
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Thu Feb 13 00:06:04 2025 -0500

        Refactor code structure to not over-expose subsystem specific stuff

    commit 2af259b
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 23:47:30 2025 -0500

        Update Phoenix6 to 2025.2.2

    commit 2ae942f
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 23:44:07 2025 -0500

        Refactor abstract alerts into util class to later roll into LEDs

    commit 876046f
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 23:42:36 2025 -0500

        Rename RobotState to PoseEstimator

        Because only vision and drive will interact with pose (and purely position) and no other robot state is tracked, it makes more sense for this to be renammed to reflect that.

    commit e5c4843
    Merge: f7606cf 9325f68
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 22:08:31 2025 -0500

        Merge branch 'main' into sriman-dev

    commit 9325f68
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 22:07:52 2025 -0500

        Misc drive fixes (#6)

        * Implement Full Logging and Drivetrain Subsystem (#1)

        * Da Code

        * Add alerts on drive spark maxes

        * Add Config Changes from Meeting

        * Other lil bs

        * Add automatic brake disable on robot disable

        * add odometry

        * add SIM module

        * Add DriveCommands

        * Update RobotContainer.java

        * Formatting fixes

        * Misc Fixes

        * Add low voltage warning for DT

        * Add velocity scalars for DT

        * Update PID Coefficents and fix odometry issues

        * Update URCL.json

        ---------

        Fix CI

        Co-Authored-By: Talon540-root <122660543+Talon540-root@users.noreply.github.com>

        * Increase voltage warning on battery and add CAN error alert

        * clean

        * Fix Modules Falsely Reporting as Disconnected

        * Cleanup typing, make errors more obvious

        * Cleanup dashboard setting stuff

        * Update sim characterization constants to be more accurate, stops a massive overshooting for some reason

        * Log drive motor temps

        * Formatting fixes

        * Inline tuning mode alert

        ---------

        Co-authored-by: Talon540-root <122660543+Talon540-root@users.noreply.github.com>

    commit f7606cf
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 22:07:08 2025 -0500

        Inline tuning mode alert

    commit addcdce
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 22:04:53 2025 -0500

        Formatting fixes

    commit 1b089c2
    Merge: 37cd26f 93e655d
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 22:03:18 2025 -0500

        Merge branch 'main' into sriman-dev

    commit 37cd26f
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 21:55:27 2025 -0500

        Log drive motor temps

    commit 15e8caf
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 21:43:07 2025 -0500

        Update sim characterization constants to be more accurate, stops a massive overshooting for some reason

    commit 803498a
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 21:42:46 2025 -0500

        Cleanup dashboard setting stuff

    commit 1cc2430
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 12 21:42:25 2025 -0500

        Cleanup typing, make errors more obvious

    commit 98c0715
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Feb 5 13:21:38 2025 -0500

        Fix Modules Falsely Reporting as Disconnected

    commit 93e655d
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Jan 18 04:02:47 2025 -0500

        Implement Full Logging and Drivetrain Subsystem (#1)

        * Da Code

        * Add alerts on drive spark maxes

        * Add Config Changes from Meeting

        * Other lil bs

        * Add automatic brake disable on robot disable

        * add odometry

        * add SIM module

        * Add DriveCommands

        * Update RobotContainer.java

        * Formatting fixes

        * Misc Fixes

        * Add low voltage warning for DT

        * Add velocity scalars for DT

        * Update PID Coefficents and fix odometry issues

        * Update URCL.json

        ---------

        Fix CI

    commit f9babf3
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Sat Feb 1 09:57:53 2025 -0500

        clean

    commit 16c4eba
    Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
    Date:   Wed Jan 29 12:44:39 2025 -0500

        Increase voltage warning on battery and add CAN error alert

commit 9485d1d
Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date:   Mon Feb 24 14:36:49 2025 -0500

    Implement Elevator Subsystem

    Implement ElevatorIO

    Update IO

    WIP

    fixes

    add elevator and end effector subsystems

commit 0aa671a
Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date:   Wed Feb 19 23:34:57 2025 -0500

    Implement Intake Subsystem, fix SIM initialization

    Update Intake

    explicitly set motor temp signals

    dont make conversion factors variables

    Update FieldConstants.java

    Add updatable debouncer

    Make sim models non static

    avoids building creating these objects when running as non-sim

commit b616b8f
Author: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date:   Wed Jan 29 12:44:39 2025 -0500

    Alerts usage update, dependency bump, and misc drive fixes

    clean

    Fix Modules Falsely Reporting as Disconnected

    Cleanup typing, make errors more obvious

    Cleanup dashboard setting stuff

    Update sim characterization constants to be more accurate, stops a massive overshooting for some reason

    Log drive motor temps

    Inline tuning mode alert

    Rename RobotState to PoseEstimator

    Because only vision and drive will interact with pose (and purely position) and no other robot state is tracked, it makes more sense for this to be renammed to reflect that.

    Refactor abstract alerts into util class to later roll into LEDs

    Update Phoenix6 to 2025.2.2

    Refactor code structure to not over-expose subsystem specific stuff

    Shorten name for drive temp

    Fix red alliance drive commands bug

    Update WPILIB to 2025.3.1

    fix akit version mismatch

    Fix DT bug

    Update EqualsUtil.java

    Update robot constants to match bot

Author: Talon540-root

src/main/java/frc/robot/Constants.java

@@ -4,7 +4,7 @@
 import edu.wpi.first.wpilibj.RobotBase;
 
 public class Constants {
-  private static RobotType robotType = RobotType.SIMBOT;
+  private static RobotType robotType = RobotType.COMPBOT;
   // Allows tunable values to be changed when enabled. Also adds tunable selectors to AutoSelector
   public static final boolean TUNING_MODE = true;
   // Disable the AdvantageKit logger from running

src/main/java/frc/robot/subsystems/dispenser/DispenserConstants.java

@@ -4,4 +4,5 @@ class DispenserConstants {
   public static final boolean inverted = true;
   public static final double moi = 0.025; // TODO
   public static final double gearing = 34.0 / 24.0;
+  public static final int id = 14;
 }

src/main/java/frc/robot/subsystems/dispenser/DispenserIOSpark.java

@@ -21,7 +21,7 @@ public class DispenserIOSpark implements DispenserIO {
   private final DigitalInput rearBeamBreak = new DigitalInput(0);
 
   public DispenserIOSpark() {
-    spark = new SparkMax(14, MotorType.kBrushless);
+    spark = new SparkMax(id, MotorType.kBrushless);
     encoder = spark.getEncoder();
 
     var config = new SparkMaxConfig();

src/main/java/frc/robot/subsystems/drive/Module.java

@@ -21,6 +21,8 @@ class Module {
       new LoggedTunableNumber("Drive/Module/DrivekI");
   private static final LoggedTunableNumber drivekD =
       new LoggedTunableNumber("Drive/Module/DrivekD");
+  private static final LoggedTunableNumber driveIZone =
+      new LoggedTunableNumber("Drive/Module/DrivekIZone");
   private static final LoggedTunableNumber turnkP = new LoggedTunableNumber("Drive/Module/TurnkP");
   private static final LoggedTunableNumber turnkI = new LoggedTunableNumber("Drive/Module/TurnkI");
   private static final LoggedTunableNumber turnkD = new LoggedTunableNumber("Drive/Module/TurnkD");
@@ -30,19 +32,20 @@ class Module {
       case COMPBOT -> {
         drivekS.initDefault(0.69641);
         drivekV.initDefault(0.12647);
-        drivekP.initDefault(0.0);
-        drivekI.initDefault(0.0);
-        drivekD.initDefault(0.0);
-        turnkP.initDefault(1.5);
-        turnkI.initDefault(0.0);
-        turnkD.initDefault(0.0);
+        drivekP.initDefault(0.0075);
+        drivekI.initDefault(0.0000005);
+        drivekD.initDefault(0.001);
+        driveIZone.initDefault(0.01);
+        turnkP.initDefault(0.65);
+        turnkD.initDefault(0.1);
       }
       default -> {
         drivekS.initDefault(0.113190);
         drivekV.initDefault(0.841640);
         drivekP.initDefault(0.1);
         drivekI.initDefault(0.0);
         drivekD.initDefault(0.0);
+        driveIZone.initDefault(0.0);
         turnkP.initDefault(10.0);
         turnkI.initDefault(0.0);
         turnkD.initDefault(0.0);
@@ -80,18 +83,14 @@ public void periodic() {
         hashCode(), () -> m_io.setDriveFF(drivekS.get(), drivekV.get()), true, drivekS, drivekV);
     LoggedTunableNumber.ifChanged(
         hashCode(),
-        () -> m_io.setDrivePID(drivekP.get(), drivekI.get(), drivekD.get()),
+        () -> m_io.setDrivePID(drivekP.get(), drivekI.get(), drivekD.get(), driveIZone.get()),
         true,
         drivekP,
         drivekI,
-        drivekD);
+        drivekD,
+        driveIZone);
     LoggedTunableNumber.ifChanged(
-        hashCode(),
-        () -> m_io.setTurnPID(turnkP.get(), turnkI.get(), turnkD.get()),
-        true,
-        turnkP,
-        turnkI,
-        turnkD);
+        hashCode(), () -> m_io.setTurnPID(turnkP.get(), 0, turnkD.get()), true, turnkP, turnkD);
 
     // Update Odometry Positions
     int sampleCount = m_inputs.odometryDrivePositionsRad.length;

src/main/java/frc/robot/subsystems/drive/ModuleIO.java

@@ -41,7 +41,7 @@ public default void runDriveVelocity(double velocityRadPerSec) {}
   public default void runTurnPosition(Rotation2d rotation) {}
 
   /** Set P, I, and D gains for closed loop control on drive motor. */
-  public default void setDrivePID(double kP, double kI, double kD) {}
+  public default void setDrivePID(double kP, double kI, double kD, double IZone) {}
 
   /** Set kS, kV gains for closed loop control on drive motor. */
   public default void setDriveFF(double kS, double kV) {}

src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java

@@ -119,8 +119,9 @@ public void runTurnPosition(Rotation2d rotation) {
   }
 
   @Override
-  public void setDrivePID(double kP, double kI, double kD) {
+  public void setDrivePID(double kP, double kI, double kD, double IZone) {
     driveController.setPID(kP, kI, kD);
+    driveController.setI(IZone);
   }
 
   @Override

src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java

@@ -195,9 +195,9 @@ public void runTurnPosition(Rotation2d rotation) {
   }
 
   @Override
-  public void setDrivePID(double kP, double kI, double kD) {
+  public void setDrivePID(double kP, double kI, double kD, double IZone) {
     var drivePIDConfig = new SparkMaxConfig();
-    drivePIDConfig.closedLoop.pid(kP, kI, kD);
+    drivePIDConfig.closedLoop.pid(kP, kI, kD).iZone(IZone);
 
     driveSpark.configure(
         drivePIDConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);

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

@@ -25,7 +25,6 @@
 public class ElevatorBase extends SubsystemBase {
   // Tunable numbers
   private static final LoggedTunableNumber kP = new LoggedTunableNumber("Elevator/kP");
-  private static final LoggedTunableNumber kI = new LoggedTunableNumber("Elevator/kI");
   private static final LoggedTunableNumber kD = new LoggedTunableNumber("Elevator/kD");
   private static final LoggedTunableNumber kS = new LoggedTunableNumber("Elevator/kS");
   private static final LoggedTunableNumber kG = new LoggedTunableNumber("Elevator/kG");
@@ -50,15 +49,13 @@ public class ElevatorBase extends SubsystemBase {
     switch (Constants.getRobot()) {
       case COMPBOT -> {
         kP.initDefault(0.3);
-        kI.initDefault(0.0);
         kD.initDefault(0.25);
         kS.initDefault(0);
         kG.initDefault(1.05);
         kA.initDefault(0.0);
       }
       case SIMBOT -> {
         kP.initDefault(0); // TODO
-        kI.initDefault(0.0); // TODO
         kD.initDefault(0); // TODO
         kS.initDefault(0); // TODO
         kG.initDefault(0); // TODO
@@ -139,7 +136,7 @@ public void periodic() {
     followerDisconnectedAlert.set(!inputs.followerConnected);
 
     // Update tunable numbers
-    LoggedTunableNumber.ifChanged(() -> io.setPID(kP.get(), kI.get(), kD.get()), true, kP, kI, kD);
+    LoggedTunableNumber.ifChanged(() -> io.setPID(kP.get(), 0.0, kD.get()), true, kP, kD);
     LoggedTunableNumber.ifChanged(
         () -> {
           feedforward.setKs(kS.get());

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

@@ -20,4 +20,7 @@ public class ElevatorConstants {
 
   public static final double carriageMassKg = Units.lbsToKilograms(6.0);
   public static final double stagesMassKg = Units.lbsToKilograms(12.0);
+
+  public static final int leaderId = 12;
+  public static final int followerId = 13;
 }

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

@@ -22,8 +22,8 @@ public class ElevatorIOSpark implements ElevatorIO {
   private final Debouncer followerConnectedDebouncer = new Debouncer(0.5);
 
   public ElevatorIOSpark() {
-    leaderSpark = new SparkMax(12, MotorType.kBrushless);
-    followerSpark = new SparkMax(13, MotorType.kBrushless);
+    leaderSpark = new SparkMax(leaderId, MotorType.kBrushless);
+    followerSpark = new SparkMax(followerId, MotorType.kBrushless);
 
     encoder = leaderSpark.getEncoder();
     controller = leaderSpark.getClosedLoopController();