manage storage + alliance (needs testing)

src/main/java/frc4388/robot/commands/ShooterCommands/SpitOutWrongColor.java

@@ -1,73 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc4388.robot.commands.ShooterCommands;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.Constants.ShooterConstants;
-import frc4388.robot.subsystems.BoomBoom;
-import frc4388.robot.subsystems.Storage;
-import frc4388.robot.subsystems.Turret;
-import frc4388.utility.RobotTime;
-
-public class SpitOutWrongColor extends CommandBase {
-
-  // subsystems
-  private BoomBoom drum;
-  private Turret turret;
-  private Storage storage;
-
-  // time (in milliseconds)
-  private long initialTime;
-  private long elapsedTime;
-  private long threshold;
-
-  private double initialTurret;
-  private int spitVelocity;
-
-  /** Creates a new SpitOutWrongColor. */
-  public SpitOutWrongColor(BoomBoom drum, Turret turret, Storage storage) {
-    // Use addRequirements() here to declare subsystem dependencies.
-
-    this.drum = drum;
-    this.turret = turret;
-    this.storage = storage;
-
-    initialTime = System.currentTimeMillis();
-    elapsedTime = 0;
-    threshold = 2000;
-
-    initialTurret = this.turret.getEncoderPosition();
-    spitVelocity = 2000;
-
-    addRequirements(this.drum, this.turret, this.storage);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    elapsedTime = System.currentTimeMillis() - initialTime;
-
-    this.storage.runStorage(0.9);
-    this.turret.gotoMidpoint();
-    this.drum.runDrumShooterVelocityPID(spitVelocity);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    this.storage.runStorage(0.0);
-    this.turret.runShooterRotatePID(initialTurret * ShooterConstants.TURRET_DEGREES_PER_ROT);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return (elapsedTime >= threshold);
-  }
-}