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RPM changes for indexer, ramp, and shooter

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This commit is contained in:
Team2890HawkCollective
2026-02-19 17:51:31 -05:00
parent 6b173fab83
commit e98c3834d7
8 changed files with 550 additions and 260 deletions
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24
src/main/java/frc/robot/Constants.java
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@@ -63,29 +63,32 @@ public final class Constants {
}
public static class ShooterConstants {
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter Velocity", -0.5)
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_VELOCITY = -0.6;
public static double SHOOTER_RPM = -0.6;
public static double SHOOTER_POWER = -0.45;
public static void getShooterVelocity() {
SHOOTER_VELOCITY = shooterVelocity.getDouble(-0.5);
SHOOTER_RPM = shooterVelocity.getDouble(-1000);
}
public static final int CENTER_SHOOTER_MOTOR_ID = 42;
public static final int LEFT_SHOOTER_MOTOR_ID = 41;
public static final int RIGHT_SHOOTER_MOTOR_ID = 40;
public static final int INDEXER_MOTOR_ID = 43;
public static double INDEXER_MOTOR_SPEED = 0.6;
public static double INDEXER_AND_RAMP_MOTOR_RPM;
private static GenericEntry indexerAndRampSpeed = programmingTab.add("Desired Ramp + Indexer Speed", 0.6)
public static double SHOOTER_MOTOR_P = 0.001;
public static double SHOOTER_MOTOR_I = 0;
public static double SHOOTER_MOTOR_D = 0;
private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer Speed", 1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
public static void getRampMotorSpeed() {
INDEXER_MOTOR_SPEED = indexerAndRampSpeed.getDouble(.6);
public static void getIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(1000);
}
public static final int LEFT_ACTUATOR_PWM_PORT = 1;
@@ -97,13 +100,12 @@ public final class Constants {
}
public static class IntakeConstants {
private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.4)
private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_SPEED;
public static double INTAKE_WHEELS_MOTOR_RPM;
public static void getIntakeWheelsSpeed() {
INTAKE_WHEELS_MOTOR_SPEED = intakeSpeed.getDouble(-0.4);
INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000);
}
public static final int INTAKE_WHEELS_MOTOR_ID = 50;

31
src/main/java/frc/robot/RobotContainer.java
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@@ -270,37 +270,6 @@ public class RobotContainer {
drivebase.setMotorBrake(brake);
}
public Command aimAtHopperCommand(DoubleSupplier xSup, DoubleSupplier ySup) {
try (PIDController aimPIDs = new PIDController(0.3, 0, 0.001)) {
aimPIDs.setTolerance(1.0);
return Commands.run(() -> {
double xSpeed = xSup.getAsDouble();
double ySpeed = ySup.getAsDouble();
double rot = 0.0;
if (LimelightHelpers.getTV("limelight")) {
double tx = LimelightHelpers.getTX("limelight");
rot = aimPIDs.calculate(tx, 0);
rot = MathUtil.clamp(rot, -1.5, 1.5);
}
drivebase.drive(new Translation2d(xSpeed, ySpeed), rot, false);
},
drivebase);
}
}
public SwerveSubsystem getSwerveDriveBase() {
return drivebase;
}
public CommandXboxController getDriverXbox() {
return driverXbox;
}
public SequentialCommandGroup fullShootFuelSystemCommand = new SequentialCommandGroup(
// m_ShooterSubsystem.moveActuatorCommand(Constants.ShooterConstants.DESIRED_POTENTIOMETER_DISTANCE),
m_ShooterSubsystem.shootFuelCommand(), m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly());

188
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@@ -1,94 +1,94 @@
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import com.revrobotics.spark.ClosedLoopSlot;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkFlexConfig;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.ControlType;
public class IntakeSubsystem extends SubsystemBase {
private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID,
MotorType.kBrushless);
private static SparkClosedLoopController intakeRotatorPIDController;
public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig();
public IntakeSubsystem() {
intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D);
intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
}
public void startIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED);
}
public void reverseIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED * -1);
}
public void stopIntakeMotor() {
intakeMotor.set(0);
}
public Command startIntakeMotorCommand() {
return runOnce(() -> startIntakeMotor());
}
public Command reverseIntakeMotorCommand() {
return runOnce(() -> reverseIntakeMotor());
}
public Command stopIntakeMotorCommand() {
return runOnce(() -> stopIntakeMotor());
}
public void deployIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE,
ControlType.kPosition);
}
public Command deployintakeCommand() {
return runOnce(() -> deployIntake());
}
public void retractIntake() {
intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
}
public Command retractIntakeCommand() {
return runOnce(() -> retractIntake());
}
public void assistFuelIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_MIDDLE_ENCODER_VALUE,
ControlType.kPosition);
}
public Command assistFuelIntakeCommand() {
return runOnce(() -> assistFuelIntake()).andThen(new WaitCommand(2)).andThen(deployintakeCommand())
.andThen(new WaitCommand(2));
}
@Override
public void periodic() {
SmartDashboard.putNumber("Intake Rotator Motor PID", intakeRotatorMotor.getEncoder().getPosition());
}
}
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import com.revrobotics.spark.ClosedLoopSlot;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkFlexConfig;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.ControlType;
public class IntakeSubsystem extends SubsystemBase {
private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID,
MotorType.kBrushless);
private static SparkClosedLoopController intakeRotatorPIDController;
public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig();
public IntakeSubsystem() {
intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D);
intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
}
public void startIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM);
}
public void reverseIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM * -1);
}
public void stopIntakeMotor() {
intakeMotor.set(0);
}
public Command startIntakeMotorCommand() {
return runOnce(() -> startIntakeMotor());
}
public Command reverseIntakeMotorCommand() {
return runOnce(() -> reverseIntakeMotor());
}
public Command stopIntakeMotorCommand() {
return runOnce(() -> stopIntakeMotor());
}
public void deployIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE,
ControlType.kPosition);
}
public Command deployintakeCommand() {
return runOnce(() -> deployIntake());
}
public void retractIntake() {
intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
}
public Command retractIntakeCommand() {
return runOnce(() -> retractIntake());
}
public void assistFuelIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_MIDDLE_ENCODER_VALUE,
ControlType.kPosition);
}
public Command assistFuelIntakeCommand() {
return runOnce(() -> assistFuelIntake()).andThen(new WaitCommand(2)).andThen(deployintakeCommand())
.andThen(new WaitCommand(2));
}
@Override
public void periodic() {
SmartDashboard.putNumber("Intake Rotator Motor PID", intakeRotatorMotor.getEncoder().getPosition());
}
}

292
src/main/java/frc/robot/subsystems/ShooterSubsystem.java
View File

@@ -1,124 +1,168 @@
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import java.util.function.BooleanSupplier;
import com.ctre.phoenix6.controls.Follower;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkBase;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkFlexConfig;
import com.revrobotics.spark.config.SparkBaseConfig;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.LimelightHelpers;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
public class ShooterSubsystem extends SubsystemBase {
private static SparkFlex centerShooterMotor = new SparkFlex(Constants.ShooterConstants.CENTER_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex leftShooterMotor = new SparkFlex(Constants.ShooterConstants.LEFT_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex rightShooterMotor = new SparkFlex(Constants.ShooterConstants.RIGHT_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex indexerMotor = new SparkFlex(Constants.ShooterConstants.INDEXER_MOTOR_ID,
MotorType.kBrushless);
//private static SparkMax leftActuatorMotor = new SparkMax(Constants.ShooterConstants.LEFT_ACTUATOR_PWM_PORT,
// MotorType.kBrushless);
//private static SparkMax rightActuatorMotor = new SparkMax(Constants.ShooterConstants.RIGHT_ACTUATOR_PWM_PORT,
//MotorType.kBrushless);
//private static AnalogPotentiometer leftPotentiometer = new AnalogPotentiometer(0, 1, 0);
//private static AnalogPotentiometer rightPotentiometer = new AnalogPotentiometer(0, 1, 0);
private static double currentPotentiometerPosition; // might need second value for the right potentiometer
public void startShooterMotors() {
centerShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER);
leftShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER);
rightShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER);
}
public double getShooterMotorVelocity() {
return leftShooterMotor.getEncoder().getVelocity();
}
public void startIndexerMotor() {
// if (LimelightHelpers.getTX("limelight") < 1.5 &&
// LimelightHelpers.getTX("limelight") > -1.5) {
indexerMotor.set(Constants.ShooterConstants.INDEXER_MOTOR_SPEED);
// } else
// indexerMotor.set(0);
}
/* public Command shootFuelCommand() {
return run(() -> startShooterMotors())
.until(() -> {
return (getShooterMotorVelocity() >= Constants.ShooterConstants.SHOOTER_VELOCITY);
})
.andThen(() -> startIndexerMotor());
} */
public Command shootFuelCommand() {
return runOnce(() -> startShooterMotors()).andThen(new WaitCommand(2))
.andThen(() -> startIndexerMotor());
};
public void stopShooters() {
centerShooterMotor.set(0);
leftShooterMotor.set(0);
rightShooterMotor.set(0);
indexerMotor.set(0);
}
public Command stopShooterCommand() {
return runOnce(() -> stopShooters());
}
public void moveActuator(double desiredPotentiometerPosition) {
if (desiredPotentiometerPosition > currentPotentiometerPosition) {
//TODO: Test for positive or negative power
//leftActuatorMotor.set(0.1);
//rightActuatorMotor.set(0.1);
} else {
//leftActuatorMotor.set(-0.1);
//rightActuatorMotor.set(-0.1);
}
}
public void stopActuator() {
//leftActuatorMotor.set(0);
//rightActuatorMotor.set(0);
}
public Command moveActuatorCommand(double desiredPotentiometerPosition) {
return run(() -> moveActuator(desiredPotentiometerPosition))
.until(() -> currentPotentiometerPosition == currentPotentiometerPosition)
.andThen(() -> stopActuator());
}
@Override
public void periodic() {
/* SmartDashboard.putNumber("Left Potentiometer Distance", leftPotentiometer.get());
SmartDashboard.putNumber("Right Potentiometer Distance", rightPotentiometer.get());
currentPotentiometerPosition = leftPotentiometer.get(); */
}
}
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import java.util.function.BooleanSupplier;
import com.ctre.phoenix6.controls.Follower;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkBase;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkFlexConfig;
import com.revrobotics.spark.config.SparkBaseConfig;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.LimelightHelpers;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
public class ShooterSubsystem extends SubsystemBase {
private static SparkFlex centerShooterMotor = new SparkFlex(Constants.ShooterConstants.CENTER_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex leftShooterMotor = new SparkFlex(Constants.ShooterConstants.LEFT_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex rightShooterMotor = new SparkFlex(Constants.ShooterConstants.RIGHT_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex indexerAndRampMotor = new SparkFlex(Constants.ShooterConstants.INDEXER_MOTOR_ID,
MotorType.kBrushless);
private static SparkClosedLoopController centerShooterMotorPIDController;
public static SparkFlexConfig centerShooterMotorConfig = new SparkFlexConfig();
private static SparkClosedLoopController leftShooterMotorPIDController;
public static SparkFlexConfig leftShooterMotorConfig = new SparkFlexConfig();
private static SparkClosedLoopController rightShooterMotorPIDController;
public static SparkFlexConfig rightShooterMotorConfig = new SparkFlexConfig();
private static SparkClosedLoopController indexerAndRampMotorPIDController;
public static SparkFlexConfig indexerAndRampMotorConfig = new SparkFlexConfig();
public ShooterSubsystem() {
centerShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
centerShooterMotor.configure(centerShooterMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
centerShooterMotorPIDController = centerShooterMotor.getClosedLoopController();
leftShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
leftShooterMotor.configure(leftShooterMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
leftShooterMotorPIDController = leftShooterMotor.getClosedLoopController();
rightShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
rightShooterMotor.configure(rightShooterMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
rightShooterMotorPIDController = rightShooterMotor.getClosedLoopController();
indexerAndRampMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
indexerAndRampMotor.configure(indexerAndRampMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
indexerAndRampMotorPIDController = indexerAndRampMotor.getClosedLoopController();
}
//private static SparkMax leftActuatorMotor = new SparkMax(Constants.ShooterConstants.LEFT_ACTUATOR_PWM_PORT,
// MotorType.kBrushless);
//private static SparkMax rightActuatorMotor = new SparkMax(Constants.ShooterConstants.RIGHT_ACTUATOR_PWM_PORT,
//MotorType.kBrushless);
//private static AnalogPotentiometer leftPotentiometer = new AnalogPotentiometer(0, 1, 0);
//private static AnalogPotentiometer rightPotentiometer = new AnalogPotentiometer(0, 1, 0);
private static double currentPotentiometerPosition; // might need second value for the right potentiometer
public void setShooterMotorsRPM() {
centerShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
leftShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
rightShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
}
public double getShooterMotorRPM() {
return leftShooterMotor.getEncoder().getVelocity();
}
public void setIndexerAndRampMotorRPM() {
// if (LimelightHelpers.getTX("limelight") < 1.5 &&
// LimelightHelpers.getTX("limelight") > -1.5) {
indexerAndRampMotorPIDController.setSetpoint(Constants.ShooterConstants.INDEXER_AND_RAMP_MOTOR_RPM, ControlType.kVelocity);
// } else
// indexerMotor.set(0);
}
/* public Command shootFuelCommand() {
return run(() -> startShooterMotors())
.until(() -> {
return (getShooterMotorVelocity() >= Constants.ShooterConstants.SHOOTER_VELOCITY);
})
.andThen(() -> startIndexerMotor());
} */
public Command shootFuelCommand() {
return runOnce(() -> setShooterMotorsRPM()).andThen(new WaitCommand(2))
.andThen(() -> setIndexerAndRampMotorRPM());
};
public void stopShooters() {
centerShooterMotor.set(0);
leftShooterMotor.set(0);
rightShooterMotor.set(0);
indexerAndRampMotor.set(0);
}
public Command stopShooterCommand() {
return runOnce(() -> stopShooters());
}
public void moveActuator(double desiredPotentiometerPosition) {
if (desiredPotentiometerPosition > currentPotentiometerPosition) {
//TODO: Test for positive or negative power
//leftActuatorMotor.set(0.1);
//rightActuatorMotor.set(0.1);
} else {
//leftActuatorMotor.set(-0.1);
//rightActuatorMotor.set(-0.1);
}
}
public void stopActuator() {
//leftActuatorMotor.set(0);
//rightActuatorMotor.set(0);
}
public Command moveActuatorCommand(double desiredPotentiometerPosition) {
return run(() -> moveActuator(desiredPotentiometerPosition))
.until(() -> currentPotentiometerPosition == currentPotentiometerPosition)
.andThen(() -> stopActuator());
}
@Override
public void periodic() {
/* SmartDashboard.putNumber("Left Potentiometer Distance", leftPotentiometer.get());
SmartDashboard.putNumber("Right Potentiometer Distance", rightPotentiometer.get());
currentPotentiometerPosition = leftPotentiometer.get(); */
}
}