Unable to get CAN Spark Max to run to position

We’ve been trying to run a position closed loop control using our CAN Spark Maxes for our elevator, and while we have our encoders and PID control system all setup, we’re confused about some of the methods used with the SparkMaxPIDController to actually get the motor to automatically run to a position with the push of a button. Could anyone clear this up? Thanks.

Can you explain specifically what you’re confused about? Also, if you could share your code (ideally as a github link)?

Here is what we have so far:

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