feat: create roller hold speed method

Signed-off-by: Dasun Abeykoon <[email protected]>

Author: dabeycorn

src/main/java/org/frc6423/lib/subsystems/Roller.java

@@ -9,6 +9,7 @@
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.filter.LinearFilter;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import java.util.function.DoubleSupplier;
 
@@ -87,6 +88,22 @@ protected Command runSpeed(double speedRpm) {
     return runSpeed(() -> speedRpm);
   }
 
+  /**
+   * Hold rollers at current speed
+   *
+   * @return {@link Command}
+   */
+  protected Command holdSpeed() {
+    return Commands.sequence(
+        this.run(
+                () -> {
+                  var currentSpeed = hardware.getSpeedRpm();
+                  hardware.setSpeed(currentSpeed);
+                })
+            .until(() -> true),
+        this.run(() -> {}));
+  }
+
   @Override
   public void close() throws Exception {
     hardware.close();

src/main/java/org/frc6423/robot/subsystems/arm/ArmRoller.java

@@ -66,4 +66,13 @@ public Command runSpeed(DoubleSupplier speedRpm) {
   public Command runSpeed(double speedRpm) {
     return super.runSpeed(speedRpm);
   }
+
+  /**
+   * Hold roller at specified speed
+   *
+   * @return {@link Command}
+   */
+  public Command holdSpeed() {
+    return super.holdSpeed();
+  }
 }