hood angles will change depending on each prep

src/main/java/frc/robot/commands/states/Shooting.java

@@ -26,7 +26,7 @@ public void initialize() {
   @Override
   public void execute() {
 
-    RobotContainer.rotorsInstance.setFlywheelSpeeds(ConstRotors.FLYWHEEL_SHOOTING_SPEED);
+    RobotContainer.rotorsInstance.setFlyWheelSpeeds(ConstRotors.FLYWHEEL_SHOOTING_SPEED);
     if (RobotContainer.rotorsInstance.isFlyWheelAtSpeed(ConstRotors.FLYWHEEL_SHOOTING_SPEED)) {
       RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.INTAKE_TRANSFER_SPEED);
       RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);

src/main/java/frc/robot/commands/states/preps/BasePrep.java

@@ -0,0 +1,52 @@
+// 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 frc.robot.commands.states.preps;
+
+import edu.wpi.first.units.measure.*;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Robot;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BasePrep extends Command {
+  AngularVelocity globalFlyWheelSpeed;
+  Angle globalHoodAngle;
+  RobotState globalState;
+
+  /** Creates a new BasePrep. */
+  public BasePrep(AngularVelocity flyWheelSpeed, Angle hoodAngle, RobotState state) {
+    addRequirements(RobotContainer.stateMachineInstance);
+    globalFlyWheelSpeed = flyWheelSpeed;
+    globalHoodAngle = hoodAngle;
+    globalState = state;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    RobotContainer.rotorsInstance.setFlyWheelSpeeds(globalFlyWheelSpeed);
+    RobotContainer.motionInstance.setHoodPivotAngle(globalHoodAngle);
+    RobotContainer.stateMachineInstance.setRobotState(globalState);
+  }
+
+  // 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;
+  }
+}

src/main/java/frc/robot/commands/states/PrepAnywhere.java → src/main/java/frc/robot/commands/states/preps/PrepAnywhere.java

@@ -2,7 +2,7 @@
 // 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 frc.robot.commands.states;
+package frc.robot.commands.states.preps;
 
 import edu.wpi.first.wpilibj2.command.Command;
 
@@ -15,15 +15,18 @@ public PrepAnywhere() {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+  }
 
   // Returns true when the command should end.
   @Override

src/main/java/frc/robot/commands/states/preps/PrepCorner.java

@@ -0,0 +1,20 @@
+// 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 frc.robot.commands.states.preps;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+public class PrepCorner extends BasePrep {
+  /** Creates a new PrepNonOutpost. */
+  public PrepCorner() {
+    super(ConstRotors.FLYWHEEL_CORNER_SPEED, ConstMotion.HOOD_CORNER_ANGLE, RobotState.PREP_CORNER);
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+}

src/main/java/frc/robot/commands/states/preps/PrepHub.java

@@ -0,0 +1,22 @@
+// 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 frc.robot.commands.states.preps;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+public class PrepHub extends BasePrep {
+  /** Creates a new PrepDepot. */
+  public PrepHub() {
+
+    super(ConstRotors.FLYWHEEL_HUB_SPEED, ConstMotion.HOOD_HUB_ANGLE, RobotState.PREP_HUB);
+
+    // setState
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+}

src/main/java/frc/robot/commands/states/PrepNeautralToAlliance.java → src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java

@@ -2,32 +2,22 @@
 // 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 frc.robot.commands.states;
+package frc.robot.commands.states.preps;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class PrepNeautralToAlliance extends Command {
+public class PrepNeutralToAlliance extends BasePrep {
   /** Creates a new PrepNeautralToAlliance. */
-  public PrepNeautralToAlliance() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
+  public PrepNeutralToAlliance() {
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
+    super(ConstRotors.FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_NEUTRAL_TO_ALLIANCE_ANGLE,
+        RobotState.PREP_NEUTRAL_TO_ALLIANCE);
 
-  // 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;
+    // Use addRequirements() here to declare subsystem dependencies.
   }
-}
+
+}

src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java

@@ -0,0 +1,22 @@
+// 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 frc.robot.commands.states.preps;
+
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class PrepOpponentToAlliance extends BasePrep {
+  /** Creates a new PrepOpponentToAlliance. */
+  public PrepOpponentToAlliance() {
+
+    super(ConstRotors.FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_OPPENENT_TO_ALLIANCE_ANGLE,
+        RobotState.PREP_OPPONENT_TO_ALLIANCE);
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+}