diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 33a9060..af380a3 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -126,6 +126,39 @@ public static class Auto {
 
     /** Time in seconds that we delay our taxi in the delayed taxi auto. */
     public static final double TAXI_DELAY_TIME = 10.0;
+
+    /** Time in seconds that we wait for FireNoteRoutine to end. */
+    public static final double DUMP_NOTE_WAIT_TIME = 4.0;
+
+    /** Time in seconds that we wait for PickupFromCenter to end. */
+    public static final double PICKUP_CENTER_WAIT_TIME = 5.0;
+
+    /** Time in seconds that we wait for TaxiLongAuto to end. */
+    public static final double TAXI_LONG_WAIT_TIME = 2.0;
+
+    /** Constants for the DriveToAmpBlue auto */
+    public static class DriveToAmpBlue {
+      /** The time for the robot to drive left towards the amp. */
+      public static final double LEFT_WAIT_TIME = 1;
+
+      /** The time for the robot to drive forwards towards the amp. */
+      public static final double FORWARD_WAIT_TIME = 0.5;
+    }
+
+    /** Constants for the DriveToAmpRed auto */
+    public static class DriveToAmpRed {
+      /** The time for the robot to drive left towards the amp. */
+      public static final double LEFT_WAIT_TIME = 1;
+
+      /** The time for the robot to drive forwards towards the amp. */
+      public static final double FORWARD_WAIT_TIME = 0.5;
+    }
+
+    /** Constants for the auto that drives bot to center of field. */
+    public static class DriveToCenter {
+      /** The time for the robot to drive to the center. */
+      public static final double DRIVE_CENTER_WAIT_TIME = 5.0;
+    }
   }
 
   /** Constants for the Intake System */
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f4918db..3efc3e2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,6 +13,8 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -64,6 +66,7 @@
 import frc.robot.subsystems.mailbox.Mailbox;
 import frc.robot.subsystems.mailbox.MailboxBelts;
 import frc.robot.subsystems.mailbox.MailboxPneumatics;
+import java.util.Optional;
 
 /** Singleton class that contains all the robot's subsystems, commands, and button bindings. */
 @SuppressWarnings("unused")
@@ -387,4 +390,18 @@ private void configureBindings() {
   public Command getAutonomousCommand() {
     return autoChooser.getSelected();
   }
+
+  /**
+   * Returns true if the robot is on the red alliance. False otherwise.
+   *
+   * @return True if the robot is on the red alliance. False otherwise.
+   */
+  public static boolean isRedAlliance() {
+    Optional<Alliance> alliance = DriverStation.getAlliance();
+    if (!alliance.isEmpty()) {
+      return alliance.get() == Alliance.Red;
+    } else {
+      return false;
+    }
+  }
 }
diff --git a/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java b/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java
index 81e4154..923d150 100644
--- a/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java
+++ b/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java
@@ -11,7 +11,6 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 import frc.robot.RobotContainer;
@@ -52,8 +51,7 @@ public void initialize() {
     this.oldPipelineNumber = limelight.getLimelightPipeline();
     limelight.setLimelightPipeline(seekingPipelineNumber);
 
-    var alliance = DriverStation.getAlliance();
-    if (alliance.isPresent() ? alliance.get() == DriverStation.Alliance.Red : false) {
+    if (RobotContainer.isRedAlliance()) {
       this.rotationRadiansPerSecond = rotationRadiansPerSecond * -1;
     }
   }
diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
index 49b4348..30c4b38 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
@@ -14,11 +14,9 @@
 import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants;
 import frc.robot.commands.drive.DriveFieldOrientedHeadingSnapping;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 /** Auto that manually drives bot to blue amp. Made due to faulty limelight at comp. */
 public class DriveToAmpBlue extends SequentialCommandGroup {
 
@@ -26,7 +24,7 @@ public class DriveToAmpBlue extends SequentialCommandGroup {
   public DriveToAmpBlue() {
     super(
         new ParallelDeadlineGroup(
-            new WaitCommand(1),
+            new WaitCommand(Constants.Auto.DriveToAmpBlue.LEFT_WAIT_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> 0.0,
@@ -36,7 +34,7 @@ public DriveToAmpBlue() {
                 () -> true,
                 () -> false)),
         new ParallelDeadlineGroup(
-            new WaitCommand(0.5),
+            new WaitCommand(Constants.Auto.DriveToAmpBlue.FORWARD_WAIT_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> 1.0,
diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
index 75f9a6a..8b4cc19 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
@@ -14,11 +14,9 @@
 import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants;
 import frc.robot.commands.drive.DriveFieldOrientedHeadingSnapping;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 /** Auto that manually drives bot to red amp. Made due to faulty limelight at comp. */
 public class DriveToAmpRed extends SequentialCommandGroup {
 
@@ -26,7 +24,7 @@ public class DriveToAmpRed extends SequentialCommandGroup {
   public DriveToAmpRed() {
     super(
         new ParallelDeadlineGroup(
-            new WaitCommand(1),
+            new WaitCommand(Constants.Auto.DriveToAmpRed.LEFT_WAIT_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> 0.0,
@@ -36,7 +34,7 @@ public DriveToAmpRed() {
                 () -> false,
                 () -> true)),
         new ParallelDeadlineGroup(
-            new WaitCommand(0.5),
+            new WaitCommand(Constants.Auto.DriveToAmpRed.FORWARD_WAIT_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> -1.0,
@@ -44,6 +42,6 @@ public DriveToAmpRed() {
                 () -> false,
                 () -> false,
                 () -> false,
-                () -> false))); /* TODO: CONSTANTS */
+                () -> false)));
   }
 }
diff --git a/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java b/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java
index d6aac6c..3db0b1d 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java
@@ -14,20 +14,16 @@
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants;
 import frc.robot.commands.drive.DriveFieldOrientedHeadingSnapping;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 /** Auto that drives bot to center of field. */
 public class DriveToCenterAuto extends ParallelCommandGroup {
   /** Creates a new PickUpFromCenterAuto. */
   public DriveToCenterAuto() {
-    // Add your commands in the addCommands() call, e.g.
-    // addCommands(new FooCommand(), new BarCommand());
     addCommands(
         new ParallelDeadlineGroup(
-            new WaitCommand(5),
+            new WaitCommand(Constants.Auto.DriveToCenter.DRIVE_CENTER_WAIT_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 1.0,
                 () -> 0.0,
diff --git a/src/main/java/frc/robot/commands/auto/DumpNote.java b/src/main/java/frc/robot/commands/auto/DumpNote.java
index 1475b47..8977202 100644
--- a/src/main/java/frc/robot/commands/auto/DumpNote.java
+++ b/src/main/java/frc/robot/commands/auto/DumpNote.java
@@ -13,18 +13,13 @@
 
 import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants;
 import frc.robot.commands.mailbox.FireNoteRoutine;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 /** Auto that dumps the preloaded note in the robot after 4 seconds. */
 public class DumpNote extends ParallelDeadlineGroup {
   /** Creates a new DumpNote. */
   public DumpNote() {
-    // Add the deadline command in the super() call. Add other commands using
-    // addCommands().
-    super(new WaitCommand(4), new FireNoteRoutine());
-    // addCommands(new FooCommand(), new BarCommand());
+    super(new WaitCommand(Constants.Auto.DUMP_NOTE_WAIT_TIME), new FireNoteRoutine());
   }
 }
diff --git a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
index 0367ff2..35bae2e 100644
--- a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
+++ b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
@@ -11,12 +11,9 @@
 
 package frc.robot.commands.auto;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.RobotContainer;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 // One piece - the anime thing
 /**
  * Auto that manually drives to the amp and offloads the note. Made due to faulty limelight at comp.
@@ -24,10 +21,8 @@
 public class OnePieceAutoButItWorksISwear extends SequentialCommandGroup {
   /** Creates a new OnePieceAutoButItWorksISwear. */
   public OnePieceAutoButItWorksISwear() {
-    // Add your commands in the addCommands() call, e.g.
-    // addCommands(new FooCommand(), new BarCommand());
-    var alliance = DriverStation.getAlliance();
-    if (alliance.isPresent() ? alliance.get() == DriverStation.Alliance.Red : false) {
+
+    if (RobotContainer.isRedAlliance()) {
       addCommands(new DriveToAmpRed(), new DumpNote());
     } else {
       addCommands(new DriveToAmpBlue(), new DumpNote());
diff --git a/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java b/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java
index 613871c..ed09b49 100644
--- a/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java
+++ b/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java
@@ -14,22 +14,19 @@
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants;
 import frc.robot.commands.RunIntake;
 import frc.robot.commands.drive.DriveFieldOrientedHeadingSnapping;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 /** Auto that drives the bot to a note and intakes it. */
 public class PickUpFromCenterAuto extends ParallelCommandGroup {
   /** Creates a new PickUpFromCenterAuto. */
   public PickUpFromCenterAuto() {
-    // Add your commands in the addCommands() call, e.g.
-    // addCommands(new FooCommand(), new BarCommand());
+
     addCommands(
         new RunIntake(),
         new ParallelDeadlineGroup(
-            new WaitCommand(5),
+            new WaitCommand(Constants.Auto.PICKUP_CENTER_WAIT_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 1.0,
                 () -> 0.0,
diff --git a/src/main/java/frc/robot/commands/auto/TaxiLongAuto.java b/src/main/java/frc/robot/commands/auto/TaxiLongAuto.java
index 7c132bd..8822079 100644
--- a/src/main/java/frc/robot/commands/auto/TaxiLongAuto.java
+++ b/src/main/java/frc/robot/commands/auto/TaxiLongAuto.java
@@ -23,7 +23,7 @@
 public class TaxiLongAuto extends ParallelDeadlineGroup {
   /** Creates a new TaxiAuto. */
   public TaxiLongAuto() {
-    super(new WaitCommand(2));
+    super(new WaitCommand(Constants.Auto.TAXI_LONG_WAIT_TIME));
     addCommands(
         new DriveAutoRobotOriented(
             new Translation2d(Constants.Auto.TAXI_AUTO_METERS_PER_SECOND, 0), 0));
diff --git a/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java b/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java
index 5f3bbe7..bc1af95 100644
--- a/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java
+++ b/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java
@@ -11,13 +11,10 @@
 
 package frc.robot.commands.lightstrip;
 
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 import frc.robot.RobotContainer;
 import frc.robot.subsystems.AddressableLightStrip;
-import java.util.Optional;
 
 /** Activates the light strip when the robot is enabled. */
 public class EnabledLight extends Command {
@@ -32,16 +29,13 @@ public EnabledLight() {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    Optional<Alliance> alliance = DriverStation.getAlliance();
-    if (alliance.isPresent()) {
-      if (alliance.get() == Alliance.Red) {
-        robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_RED_ALLIANCE);
-      } else {
-        robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_BLUE_ALLIANCE);
-      }
+
+    if (RobotContainer.isRedAlliance()) {
+      robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_RED_ALLIANCE);
     } else {
-      robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_NO_ALLIANCE);
+      robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_BLUE_ALLIANCE);
     }
+
     robotLights.flush();
     robotLights.startLights();
   }
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index fea140c..1c21d49 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -19,12 +19,12 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import frc.robot.RobotContainer;
 import java.io.File;
 import java.io.IOException;
 import swervelib.SwerveDrive;
@@ -79,11 +79,7 @@ public Drive() {
           /* This will flip the path being followed to the red side of the field. */
           /* THE ORIGIN WILL REMAIN ON THE BLUE SIDE */
 
-          var alliance = DriverStation.getAlliance();
-          if (alliance.isPresent()) {
-            return alliance.get() == DriverStation.Alliance.Red;
-          }
-          return false;
+          return RobotContainer.isRedAlliance();
         },
         this /* Reference to this subsystem to set requirements */);
   }