fix more stuff

src/main/java/frc/robot/Constants.java

@@ -127,6 +127,12 @@ 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;
+
     /** Constants for the DriveToAmpBlue auto */
     public static class DriveToAmpBlue {
       /** The time for the robot to drive left towards the amp. */

src/main/java/frc/robot/RobotContainer.java

@@ -67,7 +67,6 @@
 import frc.robot.subsystems.mailbox.MailboxBelts;
 import frc.robot.subsystems.mailbox.MailboxPneumatics;
 import java.util.Optional;
-import org.jspecify.annotations.Nullable;
 
 /** Singleton class that contains all the robot's subsystems, commands, and button bindings. */
 @SuppressWarnings("unused")
@@ -397,12 +396,12 @@ public Command getAutonomousCommand() {
    *
    * @return the current alliance. Nullable.
    */
-  public static @Nullable Alliance getAlliance() {
+  public static boolean getAlliance() {
     Optional<Alliance> alliance = DriverStation.getAlliance();
     if (!alliance.isEmpty()) {
-      return alliance.get();
+      return alliance.get() == Alliance.Red;
     } else {
-      return null;
+      return false;
     }
   }
 }

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;
@@ -52,7 +51,7 @@ public void initialize() {
     this.oldPipelineNumber = limelight.getLimelightPipeline();
     limelight.setLimelightPipeline(seekingPipelineNumber);
 
-    if (RobotContainer.getAlliance() == DriverStation.Alliance.Red) {
+    if (RobotContainer.getAlliance()) {
       this.rotationRadiansPerSecond = rotationRadiansPerSecond * -1;
     }
   }

src/main/java/frc/robot/commands/auto/DumpNote.java

@@ -13,12 +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;
 
 /** Auto that dumps the preloaded note in the robot after 4 seconds. */
 public class DumpNote extends ParallelDeadlineGroup {
   /** Creates a new DumpNote. */
   public DumpNote() {
-    super(new WaitCommand(4), new FireNoteRoutine());
+    super(new WaitCommand(Constants.Auto.DUMP_NOTE_WAIT_TIME), new FireNoteRoutine());
   }
 }

src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java

@@ -11,7 +11,6 @@
 
 package frc.robot.commands.auto;
 
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.RobotContainer;
 
@@ -23,7 +22,7 @@ public class OnePieceAutoButItWorksISwear extends SequentialCommandGroup {
   /** Creates a new OnePieceAutoButItWorksISwear. */
   public OnePieceAutoButItWorksISwear() {
 
-    if (RobotContainer.getAlliance() == Alliance.Red) {
+    if (RobotContainer.getAlliance()) {
       addCommands(new DriveToAmpRed(), new DumpNote());
     } else {
       addCommands(new DriveToAmpBlue(), new DumpNote());

src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java

@@ -14,6 +14,7 @@
 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;
 
@@ -25,7 +26,7 @@ public PickUpFromCenterAuto() {
     addCommands(
         new RunIntake(),
         new ParallelDeadlineGroup(
-            new WaitCommand(5),
+            new WaitCommand(Constants.Auto.PICKUP_CENTER_WAIT_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 1.0,
                 () -> 0.0,

src/main/java/frc/robot/commands/lightstrip/EnabledLight.java

@@ -11,7 +11,6 @@
 
 package frc.robot.commands.lightstrip;
 
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 import frc.robot.RobotContainer;
@@ -31,7 +30,7 @@ public EnabledLight() {
   @Override
   public void initialize() {
 
-    if (RobotContainer.getAlliance() == Alliance.Red) {
+    if (RobotContainer.getAlliance()) {
       robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_RED_ALLIANCE);
     } else {
       robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_BLUE_ALLIANCE);

src/main/java/frc/robot/subsystems/Drive.java

@@ -19,7 +19,6 @@
 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;
@@ -80,7 +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 */
 
-          return RobotContainer.getAlliance() == DriverStation.Alliance.Red;
+          return RobotContainer.getAlliance();
         },
         this /* Reference to this subsystem to set requirements */);
   }