[Omar]

The potentiometer would be attached to the bottom of your (gray) shooter. Not on the motor. Where the Gray shooter pivots on the Orange ground/top of robot and changes it reading as the angle of the shooter changes.

Anyway, can your shooter go lower than the 1st or higher than the 5th?

Can the motor move too fast that it could go pass the position if you are not reading the limit switch fast enough?

With the fact that we can't know for sure where we are if the shooter is in between position, the best option then would be a state machine and hope you do not get out of sync.

Right now I am at a system that does not have FRC stuff loaded and can't post a solution.