From 459bf30a3e8ba8d3f324b9ad6f94188056796bee Mon Sep 17 00:00:00 2001
From: rickyegl <135090025+rickyegl@users.noreply.github.com>
Date: Thu, 8 Jan 2026 22:46:49 -0600
Subject: [PATCH 1/3] Fixed double Speeds.vx in Math.hypot from
 slowEnoughToRaiseElevator

---
 src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java b/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java
index 3e1b15a..a05df43 100644
--- a/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java
+++ b/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java
@@ -85,7 +85,7 @@ public boolean closeEnoughToRaiseElevator() {
 	public boolean slowEnoughToRaiseElevator() {
 		return Math.hypot(
 						Drive.mInstance.getState().Speeds.vx,
-						Drive.mInstance.getState().Speeds.vx)
+						Drive.mInstance.getState().Speeds.vy)
 				< velToRaiseElevator.in(Units.MetersPerSecond);
 	}
 

From 20b14d02f64b4491ab2e12cb7e7f716da551666a Mon Sep 17 00:00:00 2001
From: rickyegl <135090025+rickyegl@users.noreply.github.com>
Date: Thu, 8 Jan 2026 22:49:11 -0600
Subject: [PATCH 2/3] Fixed double Speeds.vx in Math.hypot from
 slowEnoughToRaiseElevator on another file

---
 .../java/frc/robot/trajectories/FollowSyncedTrajectory.java     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java b/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java
index ef0e05a..31177e0 100644
--- a/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java
+++ b/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java
@@ -67,7 +67,7 @@ public boolean closeEnoughToRaiseElevator() {
 	public boolean slowEnoughToRaiseElevator() {
 		return Math.hypot(
 						Drive.mInstance.getState().Speeds.vx,
-						Drive.mInstance.getState().Speeds.vx)
+						Drive.mInstance.getState().Speeds.vy)
 				< DriveConstants.kMaxSpeedTippy.times(1.1).in(Units.MetersPerSecond);
 	}
 

From e5b57101e685039846d6165537b610986fcbec68 Mon Sep 17 00:00:00 2001
From: rickyegl <135090025+rickyegl@users.noreply.github.com>
Date: Thu, 8 Jan 2026 22:51:02 -0600
Subject: [PATCH 3/3] Fixed typo in Utils

---
 src/main/java/frc/lib/util/Util.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/lib/util/Util.java b/src/main/java/frc/lib/util/Util.java
index ea2dda8..a40cc8c 100644
--- a/src/main/java/frc/lib/util/Util.java
+++ b/src/main/java/frc/lib/util/Util.java
@@ -363,9 +363,9 @@ public void clearStatesBeforeTime(Time time) {
 		}
 
 		public Pose2dTimeInterpolable(Trajectory trajwithTan, Rotation2d startHeading, Rotation2d endHeading) {
-			double totalTimeSecpnods = trajwithTan.getTotalTime();
+			double totalTimeSeconds = trajwithTan.getTotalTime();
 			for (State state : trajwithTan.getStates()) {
-				Rotation2d poseRotation = startHeading.interpolate(endHeading, state.time / totalTimeSecpnods);
+				Rotation2d poseRotation = startHeading.interpolate(endHeading, state.time / totalTimeSeconds);
 				poseList.add(new Pair<>(
 						new Pose2d(state.pose.getTranslation(), poseRotation),
 						Units.Seconds.of(state.time)));