Create Command to Handle Stage 2

[drewwhis]

For now, let's plan to raise the arm manually and drive to the wheel manually.

• [x] Get the color from FMS
• [x] Determine which color we need to see
• [x] Spin the wheel
• [x] Stop the wheel on that color
• [x] Report the current color

[drewwhis]

We may also need a command to "bump" the wheel slightly left or slightly right.