diff --git a/src/main/java/com/team2813/vision/MultiPhotonPoseEstimator.java b/src/main/java/com/team2813/vision/MultiPhotonPoseEstimator.java
index 5cbbdcb4..3138c736 100644
--- a/src/main/java/com/team2813/vision/MultiPhotonPoseEstimator.java
+++ b/src/main/java/com/team2813/vision/MultiPhotonPoseEstimator.java
@@ -189,6 +189,7 @@ private MultiPhotonPoseEstimator(Builder builder) {
         builder.cameraConfigs.entrySet().stream()
             .map(entry -> createCameraWrapperFromConfig(builder, entry.getKey(), entry.getValue()))
             .collect(Collectors.toCollection(ArrayList::new));
+    poseEstimatorStrategy = builder.poseEstimatorStrategy;
   }
 
   /**
diff --git a/src/test/java/com/team2813/RobotContainerTest.java b/src/test/java/com/team2813/RobotContainerTest.java
index 3b446d20..0380a4b6 100644
--- a/src/test/java/com/team2813/RobotContainerTest.java
+++ b/src/test/java/com/team2813/RobotContainerTest.java
@@ -1,10 +1,13 @@
 package com.team2813;
 
+import com.team2813.lib2813.testing.junit.jupiter.CommandTester;
+import com.team2813.lib2813.testing.junit.jupiter.WPILibExtension;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.Commands;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.extension.ExtendWith;
 
-@ExtendWith(IsolatedNetworkTablesExtension.class)
+@ExtendWith({IsolatedNetworkTablesExtension.class, WPILibExtension.class})
 public final class RobotContainerTest {
   private final FakeShuffleboardTabs shuffleboard = new FakeShuffleboardTabs();
 
@@ -19,4 +22,13 @@ public void conBeConstructedMultipleTimes(NetworkTableInstance ntInstance) {
     //noinspection EmptyTryBlock
     try (var container = new RobotContainer(shuffleboard, ntInstance)) {}
   }
+
+  @Test
+  public void periodicDoesNotFail(CommandTester commandTester, NetworkTableInstance ntInstance) {
+    try (RobotContainer container = new RobotContainer(shuffleboard, ntInstance)) {
+      // Runs the periodic method at least once. If the periodic method would fail with an
+      // exception, this will fail with an exception and fail the test.
+      commandTester.runUntilComplete(Commands.none());
+    }
+  }
 }