Integrate Storage Commands into Fire Commands

src/main/java/frc4388/robot/Constants.java

@@ -105,12 +105,6 @@ public final class Constants {
         public static final double TICKS_PER_INCH_LOW = TICKS_PER_WHEEL_REV_LOW/INCHES_PER_WHEEL_REV;
         public static final double INCHES_PER_TICK_LOW = 1/TICKS_PER_INCH_LOW;
     }
-    
-    public static final class IntakeConstants {;
-        public static final double EXTENDER_SPEED = 0.3;
-        public static final int INTAKE_SPARK_ID = 12;
-        public static final int EXTENDER_SPARK_ID = 13;
-    }
   
     public static final class ShooterConstants {
         /* Motor IDs */
@@ -156,6 +150,14 @@ public final class Constants {
     public static final class LevelerConstants {
         public static final int LEVELER_CAN_ID = 15;
     }
+
+    public static final class IntakeConstants {;
+        public static final double EXTENDER_SPEED = 0.3;
+        public static final double INTAKE_SPEED = 1.0;
+
+        public static final int INTAKE_SPARK_ID = 12;
+        public static final int EXTENDER_SPARK_ID = 13;
+    }
   
     public static final class StorageConstants {
         public static final int STORAGE_CAN_ID = 11;

src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java

@@ -29,8 +29,8 @@ public class ShootFireGroup extends ParallelRaceGroup {
     addCommands(
       new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel()), m_shooter),
       new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle()), m_shooterHood),
-      new TrackTarget(m_shooterAim)
+      new TrackTarget(m_shooterAim),
-      //new StorageFire(m_storage)
+      new StorageFire(m_storage)
     );
   }
 }

src/main/java/frc4388/robot/commands/storage/StoragePrep.java

@@ -44,8 +44,10 @@ public class StoragePrep extends CommandBase {
   @Override
   public boolean isFinished() {
     if (!m_storage.getBeamShooter() || (startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) {
+      m_storage.m_isStorageReadyToFire = true;
       return true;
     } else {
+      m_storage.m_isStorageReadyToFire = false;
       return false;
     }
   }