Motor Claw: Auton control?

Hello everyone,

I was wondering how people are controlling their motorized claws during autonomous?
Like, are they doing speed/time or PID? Wouldn’t PID make the motors burn out if they cant compress the game object enough?
If someone could clarify that would be greatly appreciated. Thanks!

Hey, my team used a potentiometer to measure the degrees of the claw, that way we could control it effectively.