Code refactored and finished needs review

src/main/java/frc/robot/commands/ScoringPositionCommand.java

@@ -1,50 +1,58 @@
 package frc.robot.commands;
 
+import java.util.Timer;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Scoring;
 import frc.robot.subsystems.Scoring.ElevatorSetpoints;
-import frc.robot.constants.ScoringConstants;
-import frc.robot.constants.ScoringConstants.ScoringStatesConstants;
 
 public class ScoringPositionCommand extends Command {
 
     private Scoring scoring = Scoring.getInstance();
-    private ScoringStatesConstants scoringState;
+    private ElevatorSetpoints scoringState;
 
-    public ScoringPositionCommand(ScoringStatesConstants scoringState) {
+    public ScoringPositionCommand(ElevatorSetpoints scoringState) {
         addRequirements(scoring);
         this.scoringState = scoringState;
     }
 
     @Override
     public void initialize() {
-        switch (scoringState) {
-            case Amp:
-                scoring.setSetpoint(ElevatorSetpoints.amp);
-                break;
 
-            default:
-                break;
-        }
         // TODO Auto-generated method stub
+
         super.initialize();
     }
 
     @Override
     public void execute() {
         // TODO Auto-generated method stub
+        switch (scoringState) {
+            case amp:
+                scoring.setSetpoint(ElevatorSetpoints.amp.value);
+                break;
+
+            case ground:
+                scoring.setSetpoint(ElevatorSetpoints.ground.value);
+                break;
+
+            default:
+                scoring.setSetpoint(ElevatorSetpoints.trap.value);
+                break;
+        }
         super.execute();
     }
 
     @Override
     public boolean isFinished() {
         // TODO Auto-generated method stub
-        return super.isFinished();
+        return scoring.getController().atSetpoint();
     }
 
     @Override
     public void end(boolean interrupted) {
         // TODO Auto-generated method stub
+        scoring.stopRoller();
         super.end(interrupted);
     }
 }

src/main/java/frc/robot/constants/ScoringConstants.java

@@ -5,7 +5,7 @@ public class ScoringConstants {
     public static enum ScoringStatesConstants {
         Ground,
         Amp,
-        Stage;
+        Trap;
     }
 
     public static final int kLeftScoringElevatorMotorPort = 0;

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

@@ -15,7 +15,7 @@
 
 public class Scoring extends PIDSubsystem {
 
-    public final CANSparkMax leftScoringElevatorMotor = new CANSparkMax(ScoringConstants.kLeftScoringElevatorMotorPort,
+    private final CANSparkMax leftScoringElevatorMotor = new CANSparkMax(ScoringConstants.kLeftScoringElevatorMotorPort,
             MotorType.kBrushless);
     private final CANSparkMax rightScoringElevatorMotor = new CANSparkMax(
             ScoringConstants.kRightScoringElevatorMotorPort, MotorType.kBrushless);