public void autonomousPeriodic() {
   relay.set(Relay.Value.kOn);
   smart.putNumber("distance", ultrasonic.getVoltage());
   drive.setRun(false);
   loadAndShoot.setRun(false);
   //    relay.set(Relay.Value.kOn);
   if (autoTimer.get() < autoMoveForwardTime) {
     System.out.println(
         "Moving forward, Timer at "
             + autoTimer.get()
             + ", Ultrasonic at "
             + ultrasonic.getAverageVoltage());
   }
   if (autoTimer.get() >= autoMoveForwardTime && ultrasonic.getAverageVoltage() <= AUTO_DISTANCE) {
     stop();
     if (!autonomousStopped) {
       autonomousStopped = true;
       autoTimeAtStop = autoTimer.get();
     }
     System.out.println("Stopped, Ultrasonic at " + ultrasonic.getAverageVoltage());
   }
   if (autoTimer.get() >= autoTimeAtStop + 1 && ultrasonic.getAverageVoltage() <= AUTO_DISTANCE) {
     autoStop = true;
     shoot();
     System.out.println("Shooting, Ultrasonic at " + ultrasonic.getAverageVoltage());
   }
 }
 public boolean isDetensioned() {
   double curr_volts = sensor.getAverageVoltage();
   boolean on_target =
       ((curr_volts > (slack_tension_volts - threshold_volts))
           && (curr_volts < (slack_tension_volts + threshold_volts)));
   boolean at_min = leftMin.get();
   return (on_target || at_min);
 }
 public double getTensionLevel() {
   return sensor.getAverageVoltage();
 }
 protected double returnPIDInput() {
   return sensor.getAverageVoltage();
 }
 // The absolute returns a voltage, 0 - 5, thus, any voltage *72 will = deg.
 public double getAbsoluteCurrentPosition() {
   return analogInputAbsolute.getAverageVoltage() * 72;
 }
 public double getAbsoluteVoltage() {
   return analogInputAbsolute.getAverageVoltage();
 }