spit out wrong color command

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

@@ -0,0 +1,73 @@
+// 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);
+  }
+}

src/main/java/frc4388/robot/subsystems/Turret.java

@@ -122,7 +122,7 @@ public class Turret extends SubsystemBase {
     runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT);
   }
 
-  public double getboomBoomRotatePosition() {
+  public double getEncoderPosition() {
     return m_boomBoomRotateEncoder.getPosition();
   }