diff --git a/src/main/java/frc/robot/AutoRoutines/AutoProducer.java b/src/main/java/frc/robot/AutoRoutines/AutoProducer.java
index 9f1b4256..eccd0d6a 100644
--- a/src/main/java/frc/robot/AutoRoutines/AutoProducer.java
+++ b/src/main/java/frc/robot/AutoRoutines/AutoProducer.java
@@ -23,7 +23,7 @@
 import frc.robot.commands.TootsieSlideCommands.ShootTootsieSlide;
 import frc.robot.subsystems.ArmSubsystem;
 import frc.robot.subsystems.CoralPosition;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.LedSubsystem;
 import frc.robot.subsystems.SwerveSubsystem;
@@ -36,7 +36,7 @@ public class AutoProducer extends SequentialCommandGroup {
   public AutoProducer(
       SwerveSubsystem driveTrain,
       TootsieSlideSubsystem shooter,
-      ElevatorSubsystem elevator,
+      ElevatorSubsystemMD2 elevator,
       FunnelSubsystem funnel,
       ArmSubsystem arm,
       List<LandmarkPose> autoInformation,
@@ -83,7 +83,7 @@ public AutoProducer(
   }
 
   private void settyCycle(
-      ElevatorSubsystem elevator,
+      ElevatorSubsystemMD2 elevator,
       FunnelSubsystem funnel,
       TootsieSlideSubsystem shooter,
       SwerveSubsystem driveTrain,
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 7ef43561..ac1abeb2 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -871,6 +871,7 @@ public static class FunnelConstants {
   }
 
   public static class ElevatorConstants {
+
     public static final int MOTOR1_PORT = 11; // TODO: change port
     public static final int MOTOR2_PORT = 12; // TODO: change port
     public static final int CANRANGE_PORT = 41; // TODO: change port
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 1743b9ec..03b129e6 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -11,7 +11,7 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.commands.ElevatorCommands.ZeroElevatorHardStop;
 import frc.robot.subsystems.CoralPosition;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.SwerveSubsystem;
 import frc.robot.subsystems.VisionSystem;
 import frc.robot.util.LoggedTalonFX;
@@ -89,7 +89,7 @@ public void disabledInit() {
   @Override
   public void robotInit() {
     DogLog.setOptions(
-        new DogLogOptions().withNtPublish(false).withCaptureDs(true).withLogExtras(true));
+        new DogLogOptions().withNtPublish(true).withCaptureDs(true).withLogExtras(true));
     DogLog.log("PIDArmKP", Constants.Arm.S0C_KP);
     DogLog.log("PIDArmKI", Constants.Arm.S0C_KI);
     DogLog.log("PIDArmKD", Constants.Arm.S0C_KD);
@@ -144,9 +144,9 @@ public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
-    if (ElevatorSubsystem.getInstance().isElevatorZeroed() == false) {
+    if (ElevatorSubsystemMD2.getInstance().isElevatorZeroed() == false) {
       CommandScheduler.getInstance()
-          .schedule(new ZeroElevatorHardStop(ElevatorSubsystem.getInstance()));
+          .schedule(new ZeroElevatorHardStop(ElevatorSubsystemMD2.getInstance()));
     }
 
     // CommandScheduler.getInstance();
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 404e2792..b5e9a6b9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -38,7 +38,7 @@
 import frc.robot.commands.TransferPieceBetweenFunnelAndElevator;
 import frc.robot.subsystems.ArmSubsystem;
 import frc.robot.subsystems.CoralPosition;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.LedSubsystem;
 import frc.robot.subsystems.SwerveSubsystem;
@@ -53,7 +53,7 @@ public class RobotContainer {
 
   TootsieSlideSubsystem tootsieSlideSubsystem = TootsieSlideSubsystem.getInstance();
   FunnelSubsystem funnelSubsystem = FunnelSubsystem.getInstance();
-  ElevatorSubsystem elevatorSubsystem = ElevatorSubsystem.getInstance();
+  ElevatorSubsystemMD2 elevatorSubsystem = ElevatorSubsystemMD2.getInstance();
   ArmSubsystem armSubsystem = ArmSubsystem.getInstance();
   LedSubsystem leds = new LedSubsystem();
   // Alliance color
@@ -286,7 +286,7 @@ private void configureBindings() {
                 () ->
                     CoralPosition.isCoralInFunnel()
                         && elevatorSubsystem.atIntake()
-                        && elevatorSubsystem.isAtPosition())
+                        && elevatorSubsystem.isAtTargetHeight())
             .and(RobotModeTriggers.teleop());
 
     funnelCheckout
diff --git a/src/main/java/frc/robot/commandGroups/D2Intake.java b/src/main/java/frc/robot/commandGroups/D2Intake.java
index 765482d5..412188f7 100644
--- a/src/main/java/frc/robot/commandGroups/D2Intake.java
+++ b/src/main/java/frc/robot/commandGroups/D2Intake.java
@@ -5,13 +5,13 @@
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.commands.TootsieSlideCommands.ShootTootsieSlide;
 import frc.robot.commands.TransferPieceBetweenFunnelAndElevator;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.TootsieSlideSubsystem;
 
 public class D2Intake extends SequentialCommandGroup {
   public D2Intake(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem,
       FunnelSubsystem funnelSubsystem) {
     addCommands(
diff --git a/src/main/java/frc/robot/commandGroups/Dealgaenate.java b/src/main/java/frc/robot/commandGroups/Dealgaenate.java
index e8b16180..84a3d1e0 100644
--- a/src/main/java/frc/robot/commandGroups/Dealgaenate.java
+++ b/src/main/java/frc/robot/commandGroups/Dealgaenate.java
@@ -10,14 +10,14 @@
 import frc.robot.commands.DaleCommands.ArmToAngleAndSpinFlywheel;
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.subsystems.ArmSubsystem;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class Dealgaenate extends SequentialCommandGroup {
   /** Creates a new Dealgaenate. */
-  public Dealgaenate(ArmSubsystem arm, ElevatorSubsystem elevator, ElevatorPositions position) {
+  public Dealgaenate(ArmSubsystem arm, ElevatorSubsystemMD2 elevator, ElevatorPositions position) {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
 
diff --git a/src/main/java/frc/robot/commandGroups/EjectCoralFR.java b/src/main/java/frc/robot/commandGroups/EjectCoralFR.java
index 20f3221f..da237e90 100644
--- a/src/main/java/frc/robot/commandGroups/EjectCoralFR.java
+++ b/src/main/java/frc/robot/commandGroups/EjectCoralFR.java
@@ -4,12 +4,12 @@
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.commands.TootsieSlideCommands.ShootTootsieSlide;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.TootsieSlideSubsystem;
 
 public class EjectCoralFR extends SequentialCommandGroup {
   public EjectCoralFR(
-      ElevatorSubsystem elevatorSubsystem, TootsieSlideSubsystem tootsieSlideSubsystem) {
+      ElevatorSubsystemMD2 elevatorSubsystem, TootsieSlideSubsystem tootsieSlideSubsystem) {
     addCommands(
         new SetElevatorLevel(elevatorSubsystem, ElevatorPositions.L1, false)
             .andThen(new ShootTootsieSlide(tootsieSlideSubsystem).withTimeout(0.5)));
diff --git a/src/main/java/frc/robot/commandGroups/ElevatorL4.java b/src/main/java/frc/robot/commandGroups/ElevatorL4.java
index 2c1960ad..46eac388 100644
--- a/src/main/java/frc/robot/commandGroups/ElevatorL4.java
+++ b/src/main/java/frc/robot/commandGroups/ElevatorL4.java
@@ -4,11 +4,11 @@
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.commands.ElevatorCommands.ElevatorHoldL4;
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class ElevatorL4 extends SequentialCommandGroup {
 
-  public ElevatorL4(ElevatorSubsystem elevatorSubsystem, boolean checkIfCoralInTootsie) {
+  public ElevatorL4(ElevatorSubsystemMD2 elevatorSubsystem, boolean checkIfCoralInTootsie) {
 
     addCommands(
         new SetElevatorLevel(elevatorSubsystem, ElevatorPositions.L4, checkIfCoralInTootsie)
diff --git a/src/main/java/frc/robot/commandGroups/Intake.java b/src/main/java/frc/robot/commandGroups/Intake.java
index c2c3b924..a661204e 100644
--- a/src/main/java/frc/robot/commandGroups/Intake.java
+++ b/src/main/java/frc/robot/commandGroups/Intake.java
@@ -8,7 +8,7 @@
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.commands.TransferPieceBetweenFunnelAndElevator;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.LedSubsystem;
 import frc.robot.subsystems.TootsieSlideSubsystem;
@@ -19,7 +19,7 @@
 public class Intake extends SequentialCommandGroup {
 
   public Intake(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       FunnelSubsystem funnelSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem,
       LedSubsystem leds) {
diff --git a/src/main/java/frc/robot/commandGroups/JamesHardenScore.java b/src/main/java/frc/robot/commandGroups/JamesHardenScore.java
index 37e05084..280459bd 100644
--- a/src/main/java/frc/robot/commandGroups/JamesHardenScore.java
+++ b/src/main/java/frc/robot/commandGroups/JamesHardenScore.java
@@ -10,7 +10,7 @@
 import frc.robot.commands.EndWhenCloseEnough;
 import frc.robot.commands.SwerveCommands.JamesHardenMovement;
 import frc.robot.commands.TootsieSlideCommands.ShootTootsieSlide;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.LedSubsystem;
 import frc.robot.subsystems.SwerveSubsystem;
 import frc.robot.subsystems.TootsieSlideSubsystem;
@@ -18,7 +18,7 @@
 
 public class JamesHardenScore extends SequentialCommandGroup {
   public JamesHardenScore(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem,
       SwerveSubsystem swerveSubsystem,
       ElevatorPositions height,
@@ -64,7 +64,7 @@ public JamesHardenScore(
   }
 
   public JamesHardenScore(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem,
       SwerveSubsystem swerveSubsystem,
       ElevatorPositions height,
diff --git a/src/main/java/frc/robot/commandGroups/PutUpAndShoot.java b/src/main/java/frc/robot/commandGroups/PutUpAndShoot.java
index 3ec1f872..3f5070fc 100644
--- a/src/main/java/frc/robot/commandGroups/PutUpAndShoot.java
+++ b/src/main/java/frc/robot/commandGroups/PutUpAndShoot.java
@@ -4,12 +4,12 @@
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.commands.TootsieSlideCommands.ShootTootsieSlide;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.TootsieSlideSubsystem;
 
 public class PutUpAndShoot extends SequentialCommandGroup {
   public PutUpAndShoot(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem,
       ElevatorPositions height) {
 
diff --git a/src/main/java/frc/robot/commandGroups/RunFunnelUntilDetectionSafeSmooth.java b/src/main/java/frc/robot/commandGroups/RunFunnelUntilDetectionSafeSmooth.java
index 807c4814..203e3b4e 100644
--- a/src/main/java/frc/robot/commandGroups/RunFunnelUntilDetectionSafeSmooth.java
+++ b/src/main/java/frc/robot/commandGroups/RunFunnelUntilDetectionSafeSmooth.java
@@ -4,14 +4,14 @@
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.commands.FunnelCommands.RampUpFunnel;
 import frc.robot.commands.FunnelCommands.RunFunnelUntilDetectionSafe;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.LedSubsystem;
 import java.util.function.BooleanSupplier;
 
 public class RunFunnelUntilDetectionSafeSmooth extends SequentialCommandGroup {
   public RunFunnelUntilDetectionSafeSmooth(
-      ElevatorSubsystem elevatorSubsystem, FunnelSubsystem funnelSubsystem, LedSubsystem leds) {
+      ElevatorSubsystemMD2 elevatorSubsystem, FunnelSubsystem funnelSubsystem, LedSubsystem leds) {
 
     addCommands(
         // new WaitCommand(0.1),
diff --git a/src/main/java/frc/robot/commandGroups/ShootL1.java b/src/main/java/frc/robot/commandGroups/ShootL1.java
index b6780681..de94c0c9 100644
--- a/src/main/java/frc/robot/commandGroups/ShootL1.java
+++ b/src/main/java/frc/robot/commandGroups/ShootL1.java
@@ -4,11 +4,12 @@
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.commands.TootsieSlideCommands.ShootSlow;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.TootsieSlideSubsystem;
 
 public class ShootL1 extends SequentialCommandGroup {
-  public ShootL1(ElevatorSubsystem elevatorSubsystem, TootsieSlideSubsystem tootsieSlideSubsystem) {
+  public ShootL1(
+      ElevatorSubsystemMD2 elevatorSubsystem, TootsieSlideSubsystem tootsieSlideSubsystem) {
     addCommands(
         new SetElevatorLevel(elevatorSubsystem, ElevatorPositions.L1, false)
             .andThen(new ShootSlow(tootsieSlideSubsystem))
diff --git a/src/main/java/frc/robot/commandGroups/ShootL1Funnel.java b/src/main/java/frc/robot/commandGroups/ShootL1Funnel.java
index 8e3460c1..67c69edb 100644
--- a/src/main/java/frc/robot/commandGroups/ShootL1Funnel.java
+++ b/src/main/java/frc/robot/commandGroups/ShootL1Funnel.java
@@ -6,13 +6,13 @@
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.commands.FunnelCommands.ReverseFunnel;
 import frc.robot.commands.TootsieSlideCommands.ReverseTootsie;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.TootsieSlideSubsystem;
 
 public class ShootL1Funnel extends SequentialCommandGroup {
   public ShootL1Funnel(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem,
       FunnelSubsystem funnelSubsystem) {
     // if (CoralPosition.isCoralInTootsieSlide()) {
diff --git a/src/main/java/frc/robot/commandGroups/UnjamFunnelAndIntake.java b/src/main/java/frc/robot/commandGroups/UnjamFunnelAndIntake.java
index 76dcadb7..e5a528a1 100644
--- a/src/main/java/frc/robot/commandGroups/UnjamFunnelAndIntake.java
+++ b/src/main/java/frc/robot/commandGroups/UnjamFunnelAndIntake.java
@@ -5,13 +5,13 @@
 import frc.robot.commands.ElevatorCommands.SetElevatorLevel;
 import frc.robot.commands.FunnelCommands.RunFunnelAndTootsieInCommand;
 import frc.robot.commands.FunnelCommands.RunFunnelOutUntilUnstuckCommand;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.TootsieSlideSubsystem;
 
 public class UnjamFunnelAndIntake extends SequentialCommandGroup {
   public UnjamFunnelAndIntake(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       FunnelSubsystem funnelSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem) {
     addCommands(
diff --git a/src/main/java/frc/robot/commands/DaleCommands/ArmToAngleAndSpinFlywheel.java b/src/main/java/frc/robot/commands/DaleCommands/ArmToAngleAndSpinFlywheel.java
index a5d410af..33ae063d 100644
--- a/src/main/java/frc/robot/commands/DaleCommands/ArmToAngleAndSpinFlywheel.java
+++ b/src/main/java/frc/robot/commands/DaleCommands/ArmToAngleAndSpinFlywheel.java
@@ -5,16 +5,16 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.subsystems.ArmSubsystem;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class ArmToAngleAndSpinFlywheel extends Command {
   private final ArmSubsystem armPlusFlywheel;
   private double angle;
   private double tolerance = 5;
-  private ElevatorSubsystem elevatorSubsystem;
+  private ElevatorSubsystemMD2 elevatorSubsystem;
 
   public ArmToAngleAndSpinFlywheel(
-      double angle, ArmSubsystem armSub, ElevatorSubsystem elevatorSubsystem) {
+      double angle, ArmSubsystem armSub, ElevatorSubsystemMD2 elevatorSubsystem) {
     armPlusFlywheel = armSub;
     this.angle = angle;
     this.elevatorSubsystem = elevatorSubsystem;
@@ -34,7 +34,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     armPlusFlywheel.stopFlywheel(); // Stop the flywheel
-    elevatorSubsystem.elevateTo(ElevatorPositions.safePosition);
+    elevatorSubsystem.setHeight(ElevatorPositions.safePosition.height);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/commands/ElevatorCommands/DefaultElevator.java b/src/main/java/frc/robot/commands/ElevatorCommands/DefaultElevator.java
index 73e1b905..4305ce85 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommands/DefaultElevator.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommands/DefaultElevator.java
@@ -3,15 +3,15 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.subsystems.CoralPosition;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class DefaultElevator extends Command {
-  private final ElevatorSubsystem elevatorSubsystem;
+  private final ElevatorSubsystemMD2 elevatorSubsystem;
 
   // private WindowAverage windowAverage = new WindowAverage();
   // private double currentAverage = 0.0;
 
-  public DefaultElevator(ElevatorSubsystem subsystem) {
+  public DefaultElevator(ElevatorSubsystemMD2 subsystem) {
     elevatorSubsystem = subsystem;
     addRequirements(elevatorSubsystem);
   }
@@ -41,7 +41,7 @@ public void execute() {
     // }
 
     if (!CoralPosition.isCoralInTootsieSlide()) {
-      elevatorSubsystem.elevateTo(ElevatorPositions.Intake);
+      elevatorSubsystem.setHeight(ElevatorPositions.Intake.height);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/ElevatorCommands/ElevatorHoldL4.java b/src/main/java/frc/robot/commands/ElevatorCommands/ElevatorHoldL4.java
index f61019cc..d6df823b 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommands/ElevatorHoldL4.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommands/ElevatorHoldL4.java
@@ -2,12 +2,12 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class ElevatorHoldL4 extends Command {
-  private ElevatorSubsystem elevatorSubsystem;
+  private ElevatorSubsystemMD2 elevatorSubsystem;
 
-  public ElevatorHoldL4(ElevatorSubsystem elevatorSubsystem) {
+  public ElevatorHoldL4(ElevatorSubsystemMD2 elevatorSubsystem) {
     this.elevatorSubsystem = elevatorSubsystem;
     addRequirements(elevatorSubsystem);
   }
@@ -15,7 +15,7 @@ public ElevatorHoldL4(ElevatorSubsystem elevatorSubsystem) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    elevatorSubsystem.elevateTo(ElevatorPositions.LIMIT_OF_TRAVEL);
+    elevatorSubsystem.setHeight(ElevatorPositions.LIMIT_OF_TRAVEL.height);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -31,6 +31,6 @@ public void end(boolean interrupted) {}
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevatorSubsystem.isAtPosition();
+    return elevatorSubsystem.isAtTargetHeight();
   }
 }
diff --git a/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevel.java b/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevel.java
index 88a4e8de..dd0ceb12 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevel.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevel.java
@@ -3,15 +3,16 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
 import frc.robot.subsystems.CoralPosition;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class SetElevatorLevel extends Command {
-  private final ElevatorSubsystem elevatorSubsystem;
+  private final ElevatorSubsystemMD2 elevatorSubsystem;
   private final ElevatorPositions pos;
   private final boolean checkIfCoralInTootsie;
 
   public SetElevatorLevel(
-      ElevatorSubsystem subsystem, ElevatorPositions pos, boolean checkIfCoralInTootsie) {
+      ElevatorSubsystemMD2 subsystem, ElevatorPositions pos, boolean checkIfCoralInTootsie) {
+
     elevatorSubsystem = subsystem;
     this.pos = pos;
     this.checkIfCoralInTootsie = checkIfCoralInTootsie;
@@ -25,10 +26,10 @@ public void initialize() {}
   public void execute() {
     if (checkIfCoralInTootsie) {
       if (CoralPosition.isCoralInTootsieSlide()) {
-        elevatorSubsystem.elevateTo(pos);
+        elevatorSubsystem.setHeight(pos.height);
       }
     } else {
-      elevatorSubsystem.elevateTo(pos);
+      elevatorSubsystem.setHeight(pos.height);
     }
   }
 
@@ -37,6 +38,6 @@ public void end(boolean interrupted) {}
 
   @Override
   public boolean isFinished() {
-    return elevatorSubsystem.isAtPosition();
+    return elevatorSubsystem.isAtTargetHeight();
   }
 }
diff --git a/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevelInstant.java b/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevelInstant.java
index f8257efe..fc0dfb7f 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevelInstant.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommands/SetElevatorLevelInstant.java
@@ -2,13 +2,13 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class SetElevatorLevelInstant extends Command {
-  private final ElevatorSubsystem elevatorSubsystem;
+  private final ElevatorSubsystemMD2 elevatorSubsystem;
   private final ElevatorPositions pos;
 
-  public SetElevatorLevelInstant(ElevatorSubsystem subsystem, ElevatorPositions pos) {
+  public SetElevatorLevelInstant(ElevatorSubsystemMD2 subsystem, ElevatorPositions pos) {
     elevatorSubsystem = subsystem;
     this.pos = pos;
     addRequirements(elevatorSubsystem);
@@ -19,7 +19,7 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    elevatorSubsystem.elevateTo(pos);
+    elevatorSubsystem.setHeight(pos.height);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorHardStop.java b/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorHardStop.java
index c19e9668..f8762b73 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorHardStop.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorHardStop.java
@@ -2,13 +2,13 @@
 
 import dev.doglog.DogLog;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class ZeroElevatorHardStop extends Command {
-  private final ElevatorSubsystem elevatorSubsystem;
+  private final ElevatorSubsystemMD2 elevatorSubsystem;
   private double timesExceededCurrent;
 
-  public ZeroElevatorHardStop(ElevatorSubsystem subsystem) {
+  public ZeroElevatorHardStop(ElevatorSubsystemMD2 subsystem) {
     elevatorSubsystem = subsystem;
     DogLog.log("subsystems/Elevator/ZeroElevatorHardStop/running", false);
     addRequirements(elevatorSubsystem);
@@ -34,10 +34,9 @@ public void execute() {
   public void end(boolean interrupted) {
     DogLog.log("subsystems/Elevator/ZeroElevatorHardStop/running", false);
     if (!interrupted) {
-      elevatorSubsystem.resetElevatorPositionToZero();
+      elevatorSubsystem.zeroElevator();
     }
     elevatorSubsystem.resetCurrentLimits();
-    elevatorSubsystem.elevatorHasBeenZeroed();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorToFFiltered.java b/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorToFFiltered.java
index 4b265808..a3ec940f 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorToFFiltered.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommands/ZeroElevatorToFFiltered.java
@@ -3,13 +3,13 @@
 import dev.doglog.DogLog;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 
 public class ZeroElevatorToFFiltered extends Command {
-  private final ElevatorSubsystem elevatorSubsystem;
+  private final ElevatorSubsystemMD2 elevatorSubsystem;
   private double ticksAtPosition;
 
-  public ZeroElevatorToFFiltered(ElevatorSubsystem subsystem) {
+  public ZeroElevatorToFFiltered(ElevatorSubsystemMD2 subsystem) {
     elevatorSubsystem = subsystem;
     DogLog.log("subsystems/Elevator/ZeroElevatorToFFiltered/running", false);
     addRequirements(elevatorSubsystem);
@@ -19,7 +19,7 @@ public ZeroElevatorToFFiltered(ElevatorSubsystem subsystem) {
   public void initialize() {
     ticksAtPosition = 0;
     DogLog.log("subsystems/Elevator/ZeroElevatorToFFiltered/running", true);
-    elevatorSubsystem.elevateTo(ElevatorPositions.Intake);
+    elevatorSubsystem.setHeight(ElevatorPositions.Intake.height);
   }
 
   @Override
@@ -34,7 +34,7 @@ public void end(boolean interrupted) {
   @Override
   public boolean isFinished() {
     DogLog.log("subsystems/Elevator/ZeroElevatorToFFiltered/ticksAtPosition", ticksAtPosition);
-    boolean inPosition = elevatorSubsystem.isAtPosition() && elevatorSubsystem.atIntake();
+    boolean inPosition = elevatorSubsystem.isAtTargetHeight() && elevatorSubsystem.atIntake();
     DogLog.log("subsystems/Elevator/ZeroElevatorToFFiltered/inPosition", inPosition);
 
     if (inPosition) {
diff --git a/src/main/java/frc/robot/commands/FunnelCommands/RampUpFunnel.java b/src/main/java/frc/robot/commands/FunnelCommands/RampUpFunnel.java
index 31e9f1cf..5230a400 100644
--- a/src/main/java/frc/robot/commands/FunnelCommands/RampUpFunnel.java
+++ b/src/main/java/frc/robot/commands/FunnelCommands/RampUpFunnel.java
@@ -2,15 +2,15 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 
 public class RampUpFunnel extends Command {
   private FunnelSubsystem funnelSubsystem;
-  private ElevatorSubsystem elevatorSubsystem;
+  private ElevatorSubsystemMD2 elevatorSubsystem;
   private double tolerance = 2;
 
-  public RampUpFunnel(FunnelSubsystem funnelSubsystem, ElevatorSubsystem elevator) {
+  public RampUpFunnel(FunnelSubsystem funnelSubsystem, ElevatorSubsystemMD2 elevator) {
     this.funnelSubsystem = funnelSubsystem;
     this.elevatorSubsystem = elevator;
     addRequirements(funnelSubsystem);
@@ -26,7 +26,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (elevatorSubsystem.isAtPosition()) {
+    if (elevatorSubsystem.isAtTargetHeight()) {
       if (funnelSubsystem.getSpeed() > Constants.FunnelConstants.RAMP_UP_SPEED - tolerance
           && funnelSubsystem.getSpeed() < Constants.FunnelConstants.RAMP_UP_SPEED + tolerance) {
         funnelSubsystem.runFunnelAtRPS(Constants.FunnelConstants.RAMP_UP_SPEED);
diff --git a/src/main/java/frc/robot/commands/FunnelCommands/RunFunnelUntilDetectionSafe.java b/src/main/java/frc/robot/commands/FunnelCommands/RunFunnelUntilDetectionSafe.java
index 2d07180b..73726b58 100644
--- a/src/main/java/frc/robot/commands/FunnelCommands/RunFunnelUntilDetectionSafe.java
+++ b/src/main/java/frc/robot/commands/FunnelCommands/RunFunnelUntilDetectionSafe.java
@@ -7,7 +7,7 @@ point, the funnel maintains its current position (if the Coral moves the Funnel
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.CoralPosition;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 
 /**
@@ -17,9 +17,10 @@ point, the funnel maintains its current position (if the Coral moves the Funnel
  */
 public class RunFunnelUntilDetectionSafe extends Command {
   private FunnelSubsystem funnelSubsystem;
-  private ElevatorSubsystem elevatorSubsystem;
+  private ElevatorSubsystemMD2 elevatorSubsystem;
 
-  public RunFunnelUntilDetectionSafe(FunnelSubsystem funnelSubsystem, ElevatorSubsystem elevator) {
+  public RunFunnelUntilDetectionSafe(
+      FunnelSubsystem funnelSubsystem, ElevatorSubsystemMD2 elevator) {
     this.funnelSubsystem = funnelSubsystem;
     this.elevatorSubsystem = elevator;
     addRequirements(funnelSubsystem);
@@ -36,7 +37,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (elevatorSubsystem.isAtPosition()) {
+    if (elevatorSubsystem.isAtTargetHeight()) {
       funnelSubsystem.spinFunnel();
     } else {
       funnelSubsystem.maintainCurrentPosition();
diff --git a/src/main/java/frc/robot/commands/TransferPieceBetweenFunnelAndElevator.java b/src/main/java/frc/robot/commands/TransferPieceBetweenFunnelAndElevator.java
index a57d9a38..254f66bd 100644
--- a/src/main/java/frc/robot/commands/TransferPieceBetweenFunnelAndElevator.java
+++ b/src/main/java/frc/robot/commands/TransferPieceBetweenFunnelAndElevator.java
@@ -2,19 +2,19 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.CoralPosition;
-import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.ElevatorSubsystemMD2;
 import frc.robot.subsystems.FunnelSubsystem;
 import frc.robot.subsystems.TootsieSlideSubsystem;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class TransferPieceBetweenFunnelAndElevator extends Command {
 
-  private ElevatorSubsystem elevatorSubsystem;
+  private ElevatorSubsystemMD2 elevatorSubsystem;
   private FunnelSubsystem funnelSubsystem;
   private TootsieSlideSubsystem tootsieSlideSubsystem;
 
   public TransferPieceBetweenFunnelAndElevator(
-      ElevatorSubsystem elevatorSubsystem,
+      ElevatorSubsystemMD2 elevatorSubsystem,
       FunnelSubsystem funnelSubsystem,
       TootsieSlideSubsystem tootsieSlideSubsystem) {
     this.elevatorSubsystem = elevatorSubsystem;
@@ -31,7 +31,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (elevatorSubsystem.isAtPosition()) {
+    if (elevatorSubsystem.isAtTargetHeight()) {
       funnelSubsystem.spinFunnel();
       tootsieSlideSubsystem.intakeCoral();
     } else {
diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystemMD2.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystemMD2.java
new file mode 100644
index 00000000..a279a2b2
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ElevatorSubsystemMD2.java
@@ -0,0 +1,219 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.configs.MotionMagicConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.Slot1Configs;
+import com.ctre.phoenix6.configs.TalonFXConfigurator;
+import com.ctre.phoenix6.controls.Follower;
+import com.ctre.phoenix6.controls.MotionMagicVoltage;
+import com.ctre.phoenix6.controls.TorqueCurrentFOC;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.signals.GravityTypeValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
+import dev.doglog.DogLog;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+import frc.robot.Constants.ElevatorConstants;
+import frc.robot.Constants.ElevatorConstants.ElevatorPositions;
+import frc.robot.util.LoggedTalonFX;
+
+public class ElevatorSubsystemMD2 extends SubsystemBase {
+  private static ElevatorSubsystemMD2 instance;
+
+  // config: wip, will update based on last years elevator subsystem before testing
+
+  LoggedTalonFX motor1;
+  LoggedTalonFX motor2;
+  LoggedTalonFX master;
+
+  MotionMagicVoltage request = new MotionMagicVoltage(0);
+
+  private final TorqueCurrentFOC torqueRequest = new TorqueCurrentFOC(0);
+  private final VelocityVoltage velocityRequest = new VelocityVoltage(0);
+
+  private double currentHeightToF;
+  private double targetHeight;
+
+  public ElevatorSubsystemMD2() {
+    motor1 =
+        new LoggedTalonFX(
+            "subsystems/Elevator/motor1",
+            ElevatorConstants.MOTOR1_PORT,
+            Constants.Swerve.WHICH_SWERVE_ROBOT.CANBUS_NAME);
+    motor2 =
+        new LoggedTalonFX(
+            "subsystems/Elevator/motor2",
+            ElevatorConstants.MOTOR2_PORT,
+            Constants.Swerve.WHICH_SWERVE_ROBOT.CANBUS_NAME);
+
+    Follower follower = new Follower(ElevatorConstants.MOTOR1_PORT, false);
+    motor2.setControl(follower);
+
+    Slot1Configs s1c =
+        new Slot1Configs()
+            .withKP(ElevatorConstants.S1C_KP)
+            .withKI(ElevatorConstants.S1C_KI)
+            .withKD(ElevatorConstants.S1C_KD)
+            .withKS(ElevatorConstants.S0C_KS)
+            .withKG(ElevatorConstants.S0C_KG)
+            .withKA(ElevatorConstants.S0C_KA)
+            .withKV(ElevatorConstants.S0C_KV)
+            .withGravityType(GravityTypeValue.Elevator_Static)
+            .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+
+    Slot0Configs s0c =
+        new Slot0Configs()
+            .withKP(ElevatorConstants.S0C_KP)
+            .withKI(ElevatorConstants.S0C_KI)
+            .withKD(ElevatorConstants.S0C_KD)
+            .withKS(ElevatorConstants.S0C_KS)
+            .withKG(ElevatorConstants.S0C_KG)
+            .withKA(ElevatorConstants.S0C_KA)
+            .withKV(ElevatorConstants.S0C_KV)
+            .withGravityType(GravityTypeValue.Elevator_Static)
+            .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+
+    motor1.updateCurrentLimits(
+        ElevatorConstants.STATOR_CURRENT_LIMIT, ElevatorConstants.SUPPLY_CURRENT_LIMIT);
+    motor2.updateCurrentLimits(
+        ElevatorConstants.STATOR_CURRENT_LIMIT, ElevatorConstants.SUPPLY_CURRENT_LIMIT);
+
+    TalonFXConfigurator m1Config = motor1.getConfigurator();
+    TalonFXConfigurator m2Config = motor2.getConfigurator();
+
+    m1Config.apply(s0c);
+    m1Config.apply(s1c);
+    m2Config.apply(s0c);
+    m2Config.apply(s1c);
+
+    MotorOutputConfigs moc = new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake);
+
+    MotionMagicConfigs mmc =
+        new MotionMagicConfigs()
+            .withMotionMagicAcceleration(ElevatorConstants.MOTIONMAGIC_MAX_ACCELERATION)
+            .withMotionMagicCruiseVelocity(ElevatorConstants.MOTIONMAGIC_MAX_VELOCITY);
+
+    m1Config.apply(mmc);
+    m2Config.apply(mmc);
+    m1Config.apply(moc);
+    m2Config.apply(moc);
+
+    master = motor1;
+  }
+
+  public static ElevatorSubsystemMD2 getInstance() {
+    if (instance == null) {
+      instance = new ElevatorSubsystemMD2();
+    }
+    return instance;
+  }
+
+  // use a control request to move to the height.
+  public void setHeight(double position) {
+
+    targetHeight = position * ElevatorConstants.CONVERSION_FACTOR_UP_DISTANCE_TO_ROTATIONS / ElevatorConstants.CARRAIGE_UPDUCTION;
+    master.setControl(request.withPosition(targetHeight));
+
+    master.setControl(
+        request
+            .withPosition(targetHeight)
+            .withSlot(0)); 
+  }
+
+  // getters
+  public double getCurrentHeight() {
+    return master.getPosition().getValueAsDouble();
+  }
+
+  public double getTargetHeight() {
+    return targetHeight;
+  }
+
+  // distance from the target
+  public double getErrorDist() {
+    return Math.abs(targetHeight - getCurrentHeight());
+  }
+
+  public boolean isAtTargetHeight() {
+    return getErrorDist() <= ElevatorConstants.SETPOINT_TOLERANCE;
+  }
+
+  // based on last year's code
+  public boolean atIntake() {
+    return getCurrentHeight() == (ElevatorPositions.Intake.height);
+  }
+
+  public void zeroElevator() {
+    master.setPosition(0);
+  }
+
+  public boolean isElevatorZeroed() {
+    return master.getPosition().getValueAsDouble() == 0;
+  }
+
+  public void reduceCurrentLimits() {
+    master.updateCurrentLimits(30, 10);
+  }
+
+  // all of these created based on last year's code for one of the commands that requires it, my
+  // interpretation of their use is listed
+
+  // move elevator down, i assume this is for re-zeroing it.
+  public void moveElevatorNegative() {
+    master.setControl(velocityRequest.withVelocity(-5).withSlot(1));
+  }
+
+  // set torque mode from constants.
+  public void ElevatorTorqueMode() {
+    DogLog.log("subsystems/Elevator/usingTorqueMode", true);
+    master.setControl(torqueRequest.withOutput(Constants.ElevatorConstants.ELEVATOR_TORQUE));
+    // .withMaxAbsDutyCycle(Constants.ElevatorConstants.ELEVATOR_DUTY_CYCLE));
+  }
+
+  // apply the current limits defined in constants
+  public void resetCurrentLimits() {
+    master.updateCurrentLimits(
+        Constants.ElevatorConstants.STATOR_CURRENT_LIMIT,
+        Constants.ElevatorConstants.SUPPLY_CURRENT_LIMIT);
+  }
+
+  // log the supply and stator current, return bool depending if they are above certain thresholds.
+  public boolean checkCurrent() {
+    double Supplycurrent = Math.abs(master.getSupplyCurrent().getValue().magnitude());
+    double Statorcurrent = Math.abs(master.getStatorCurrent().getValue().magnitude());
+    DogLog.log("subsystems/Elevator/ZeroElevatorHardStop/supply", Supplycurrent);
+    DogLog.log("subsystems/Elevator/ZeroElevatorHardStop/stator", Statorcurrent);
+
+    if (Supplycurrent > 1.0 && Statorcurrent > 20) {
+      return true;
+    }
+    return false;
+  }
+
+  // set the position based on tof sensor
+  public void resetPositionFiltered() {
+    master.setPosition(
+        currentHeightToF * Constants.ElevatorConstants.CONVERSION_FACTOR_UP_DISTANCE_TO_ROTATIONS);
+    DogLog.log(
+        "subsystems/Elevator/resetElevatorPosition",
+        currentHeightToF * Constants.ElevatorConstants.CONVERSION_FACTOR_UP_DISTANCE_TO_ROTATIONS);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    DogLog.log("subsystems/ElevatorMD2/currentHeight", getCurrentHeight());
+    DogLog.log("subsystems/ElevatorMD2/targetHeight", isAtTargetHeight());
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+}