diff --git a/src/main/java/frc4388/robot/commands/storage/StorageIntake.java b/src/main/java/frc4388/robot/commands/storage/StorageIntake.java
deleted file mode 100644
index 47769c4..0000000
--- a/src/main/java/frc4388/robot/commands/storage/StorageIntake.java
+++ /dev/null
@@ -1,63 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands.storage;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.Constants.StorageConstants;
-import frc4388.robot.subsystems.Intake;
-import frc4388.robot.subsystems.Storage;
-
-public class StorageIntake extends CommandBase {
-  public Intake m_intake;
-  public Storage m_storage;
-  public boolean intook;
-  /**
-   * Runs the Storage in for intaking
-   * @param inSub The Intake subsystem
-   * @param storeSub The Storage subsytem
-   */
-  public StorageIntake(Intake inSub, Storage storeSub) {
-    m_intake = inSub;
-    m_storage = storeSub;
-    addRequirements(m_intake);
-    addRequirements(m_storage);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    intook = false;
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-
-    if (!m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE) && !m_storage.getBeam(StorageConstants.BEAM_SENSOR_INTAKE)){
-      m_storage.runStorage(StorageConstants.STORAGE_SPEED);
-      intook = true;
-    }
-    else{
-      m_storage.runStorage(0); 
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    if (m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE) && intook){
-      return true;
-    }
-    return false;
-  }
-}
diff --git a/src/main/java/frc4388/robot/commands/storage/StorageIntakeFinal.java b/src/main/java/frc4388/robot/commands/storage/StorageIntakeFinal.java
deleted file mode 100644
index 0d8c447..0000000
--- a/src/main/java/frc4388/robot/commands/storage/StorageIntakeFinal.java
+++ /dev/null
@@ -1,40 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands.storage;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
-public class StorageIntakeFinal extends CommandBase {
-  /**
-   * Creates a new StorageIntakeFinal.
-   */
-  public StorageIntakeFinal() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // 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() {
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc4388/robot/commands/storage/StorageOutake.java b/src/main/java/frc4388/robot/commands/storage/StorageOutake.java
deleted file mode 100644
index 658d8e5..0000000
--- a/src/main/java/frc4388/robot/commands/storage/StorageOutake.java
+++ /dev/null
@@ -1,46 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands.storage;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.Constants.StorageConstants;
-import frc4388.robot.subsystems.Storage;
-
-public class StorageOutake extends CommandBase {
-  Storage m_storage;
-  /**
-   * Runs the Storage out for outaking
-   * @param storeSub The Storage subsystem
-   */
-  public StorageOutake(Storage storeSub) {
-    m_storage = storeSub;
-    addRequirements(m_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() {
-      m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc4388/robot/commands/storage/StoragePositionPID.java b/src/main/java/frc4388/robot/commands/storage/StoragePositionPID.java
deleted file mode 100644
index 2a27b41..0000000
--- a/src/main/java/frc4388/robot/commands/storage/StoragePositionPID.java
+++ /dev/null
@@ -1,52 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands.storage;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.Constants.StorageConstants;
-import frc4388.robot.subsystems.Storage;
-
-public class StoragePositionPID extends CommandBase {
-  public Storage m_storage;
-  double startPos;
-  /**
-   * Moves the storage a number of rotations
-   * @param subsystem The Storage subsystem
-   */
-  public StoragePositionPID(Storage subsystem) {
-    m_storage = subsystem;
-    addRequirements(m_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() {
-    m_storage.runStoragePositionPID(StorageConstants.STORAGE_FULL_BALL);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    /*if (startPos + StorageConstants.STORAGE_FULL_BALL == m_storage.getEncoderPos())
-    {
-      return true;
-    }*/
-    return false;
-  }
-}
diff --git a/src/main/java/frc4388/robot/commands/storage/StoragePrepIntake.java b/src/main/java/frc4388/robot/commands/storage/StoragePrepIntake.java
deleted file mode 100644
index b9a9cf1..0000000
--- a/src/main/java/frc4388/robot/commands/storage/StoragePrepIntake.java
+++ /dev/null
@@ -1,62 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands.storage;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.Constants.StorageConstants;
-import frc4388.robot.subsystems.Intake;
-import frc4388.robot.subsystems.Storage;
-
-public class StoragePrepIntake extends CommandBase {
-  public Intake m_intake;
-  public Storage m_storage;
-  public double startTime;
-
-  /**
-   * Prepares the Storage for intaking
-   * @param inSub The Intake subsystem
-   * @param storeSub the Storage subsystem
-   */
-  public StoragePrepIntake(Intake inSub, Storage storeSub) {
-    m_intake = inSub;
-    m_storage = storeSub;
-    addRequirements(m_intake);
-    addRequirements(m_storage);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    startTime = System.currentTimeMillis();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if (m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE)){
-      m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
-    }
-    else{
-      m_storage.runStorage(0);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    if (!m_storage.getBeam(StorageConstants.BEAM_SENSOR_INTAKE) || startTime + StorageConstants.STORAGE_TIMEOUT <= System.currentTimeMillis()){
-      return false;
-    }
-    return false;
-  }
-}