fix: simplify superstructure hold commands

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

Author: dabeycorn

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

@@ -9,7 +9,6 @@
 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;
 
@@ -94,14 +93,7 @@ protected Command runSpeed(double speedRpm) {
    * @return {@link Command}
    */
   protected Command holdSpeed() {
-    return Commands.sequence(
-        this.run(
-                () -> {
-                  var currentSpeed = hardware.getSpeedRpm();
-                  hardware.setSpeed(currentSpeed);
-                })
-            .until(() -> true),
-        this.run(() -> {}));
+    return runSpeed(() -> hardware.getSpeedRpm());
   }
 
   @Override

src/main/java/org/frc6423/robot/subsystems/superstructure/arm/Arm.java

@@ -23,7 +23,6 @@
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.MomentOfInertia;
 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;
 import org.frc6423.robot.Robot;
@@ -212,7 +211,7 @@ public Command runAngle(double angleRads) {
    * @return {@link Command}
    */
   public Command holdAngle() {
-    return Commands.sequence(this.runAngle(hardware.getAngleRads()), this.run(() -> {}));
+    return runAngle(() -> hardware.getAngleRads());
   }
 
   @Override

src/main/java/org/frc6423/robot/subsystems/superstructure/elevator/Elevator.java

@@ -22,7 +22,6 @@
 import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.measure.Mass;
 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;
 import org.frc6423.robot.Robot;
@@ -233,8 +232,7 @@ public Command runExtension(double extensionMeters) {
    * @return {@link Command}
    */
   public Command holdExtension() {
-    return Commands.sequence(
-        this.runExtension(hardware.getParentPoseMeters()).until(() -> true), this.run(() -> {}));
+    return runExtension(() -> hardware.getParentPoseMeters());
   }
 
   @Override