[kwojcik]

Programming wise... encapsulate a motor and a potentiometer with a PIDController(it's in WPILib) into some object. Now you have a re-usable servo-motor object that you can use everywhere (arm, kicker, swerve drive, turret, etc) and all you need to do is tell it where to go. Spending some time understanding how this works will help tremendously for years to come!