[Asymons]

In that case, Gus' suggestion, as well as James worked!

So my solution was as followed:
-Added the D value, set it to 1.0 and eventually lowered this value to 0.1 due to the lift "skipping".
-Absolute Tolerance was adjusted from 200 to 20, which it finally remained at 50 to keep the lift moving smoothly.
-P value was adjusted to 0.05
-Added Robot.elevator.disable(); at end of command

Doing all this, I was able to get the lift to stop at a set point, or have it skip once and get to the set point.

I'm most likely going to learn common tuning practices;however, I've mostly seen people use the "guess and check" method.