Added ZeroShooterArm command

src/main/java/frc/robot/basicCommands/ShooterArmCommands/ZeroShooterArm.java

@@ -0,0 +1,55 @@
+// 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.basicCommands.ShooterArmCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.shooterArm.ShooterArmSubsystem;
+import frc.robot.subsystems.shooterArm.ShooterArmConstants.shooterArmConstants;
+
+public class ZeroShooterArm extends Command {
+  /** Creates a new ZeroShooterArm. */
+  private final ShooterArmSubsystem shooterArm = ShooterArmSubsystem.getInstance();
+private boolean zerodOut = false;
+private boolean canReset = false;
+
+  public ZeroShooterArm() {
+    addRequirements(shooterArm);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    canReset = !shooterArm.getSwitch();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(!canReset){
+      shooterArm.setSpeed(-shooterArmConstants.RESET_SPEED);
+    }
+
+    if(!shooterArm.getSwitch()){
+      shooterArm.setSpeed(shooterArmConstants.RESET_SPEED);
+      canReset = true;
+    }
+    else if(canReset){
+      zerodOut = true;
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    shooterArm.setPosition(shooterArmConstants.RESET_POSE);
+    shooterArm.setSpeed(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return zerodOut;
+  }
+}

src/main/java/frc/robot/basicCommands/SwerveCommands/AutoAlignToSpeaker.java

@@ -21,7 +21,6 @@
 public class AutoAlignToSpeaker extends Command {
   /** Creates a new TurnToDegree. */
   SwerveSubsystem swerve = SwerveSubsystem.getInstance();
-  TakeFeedSubsystem feeder = TakeFeedSubsystem.getInstance();
 
   private Vision vision = Vision.getInstance();
   double angleFromTarget = vision.GetAngleFromTarget().getDegrees();

src/main/java/frc/robot/basicCommands/SwerveCommands/TeleopAlignToSpeaker.java

@@ -13,14 +13,12 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.FieldConstants.Speaker;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
-import frc.robot.subsystems.takeFeed.TakeFeedSubsystem;
 import frc.util.AllianceFlipUtil;
 import frc.util.vision.Vision;
 
 public class TeleopAlignToSpeaker extends Command {
   /** Creates a new TurnToDegree. */
   SwerveSubsystem swerve = SwerveSubsystem.getInstance();
-  TakeFeedSubsystem feeder = TakeFeedSubsystem.getInstance();
 
   private Vision vision = Vision.getInstance();
   double angleFromTarget = vision.GetAngleFromTarget().getDegrees();