minor cleanup

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

@@ -109,6 +109,9 @@ public static class PID {
     public static final double SHOOTER_FLYWHEEL_KP = 0;
 
     public static final double ELEVATOR_KP = 0;
+
+    public static final double SWERVE_HEADING_KP = 0.045;
+    public static final double SWERVE_HEADING_KD = 0.001;
   }
 
   public static class Offsets {

src/main/java/frc/robot/commands/elevator/HoldElevator.java

@@ -8,14 +8,12 @@
 
 public class HoldElevator extends Command {
   private final ElevatorSubsystem _elevator;
-  private final double _maintainHeight;
 
   /** Creates a new HoldElevator. */
   public HoldElevator(ElevatorSubsystem elevator) {
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(elevator);
     _elevator = elevator;
-    _maintainHeight = elevator.getElevatorHeight();
   }
 
   // Called when the command is initially scheduled.
@@ -25,7 +23,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    _elevator.setElevatorHeight(_maintainHeight); // holds the elevator in place
+    _elevator.setElevatorHeight(0); // holds the elevator in place at the bottom
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/shooter/AutoAim.java

@@ -7,7 +7,6 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -25,9 +24,9 @@ public class AutoAim extends Command {
   private DoubleSupplier _ySpeed;
 
   private PIDController _headingController = new PIDController(
-    0.045,
+    Constants.PID.SWERVE_HEADING_KP,
     0,
-    0.001
+    Constants.PID.SWERVE_HEADING_KD
   );
 
   /** Creates a new AutoAim. */

src/main/java/frc/robot/commands/shooter/HoldShooter.java

@@ -8,15 +8,11 @@
 
 public class HoldShooter extends Command {
   private final ShooterSubsystem _shooter;
-  private final double _maintainAngle;
 
   /** Creates a new HoldShooter. */
   public HoldShooter(ShooterSubsystem shooter) {
     // Use addRequirements() here to declare subsystem dependencies.
-
     _shooter = shooter;
-    _maintainAngle = shooter.getAngle();
-
     addRequirements(shooter);
   }
 
@@ -27,7 +23,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    _shooter.setAngle(_maintainAngle);
+    _shooter.setAngle(0);
   }
 
   // Called once the command ends or is interrupted.