diff --git a/src/main/java/com/team1816/lib/BaseRobotState.java b/src/main/java/com/team1816/lib/BaseRobotState.java
index 96430a90..75e28745 100644
--- a/src/main/java/com/team1816/lib/BaseRobotState.java
+++ b/src/main/java/com/team1816/lib/BaseRobotState.java
@@ -8,19 +8,19 @@ public class BaseRobotState {
      * The pose of the robot on the field estimated from odometry and vision data, measured at the
      * robot's center.
      */
-    public static Pose2d robotPose = Pose2d.kZero;
+    public static volatile Pose2d robotPose = Pose2d.kZero;
 
     /**
      * The robot-centric speeds of the robot.
      */
-    public static ChassisSpeeds robotSpeeds = new ChassisSpeeds(0.0, 0.0, 0.0);
+    public static volatile ChassisSpeeds robotSpeeds = new ChassisSpeeds(0.0, 0.0, 0.0);
 
     /**
      * The tilt of the robot relative to the field, in radians. Measured as the angle between a
      * vector pointing up in the field reference frame and a vector pointing up in the robot
      * reference frame.
      */
-    public static double robotTiltRadians = 0.0;
+    public static volatile double robotTiltRadians = 0.0;
 
     /**
      * If the {@link #robotPose} is believed to be an accurate estimate of the robot's pose on the
@@ -29,7 +29,7 @@ public class BaseRobotState {
      * its pose. Other cases might be if we leave the ground while climbing, or if we had to use a
      * default auto without the correct starting pose.
      */
-    public static boolean hasAccuratePoseEstimate = true;
+    public static volatile boolean hasAccuratePoseEstimate = true;
 
     /**
      * If you are trying to get the pose of the robot on the field, you probably want to use the
@@ -42,5 +42,5 @@ public class BaseRobotState {
      * as the source of truth during simulation, while the raw odometry position is just supposed
      * to be the pre-vision position estimate of the real robot.
      */
-    public static Pose2d simActualOrRawOdometryPose = Pose2d.kZero;
+    public static volatile Pose2d simActualOrRawOdometryPose = Pose2d.kZero;
 }
diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
index 6d81e8c6..1e2a213f 100644
--- a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
+++ b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
@@ -70,17 +70,17 @@ public void zeroMotorPosition() {
 
     @Override
     public StatusCode setSimRotorVelocity(double rps) {
-        return simState.setRotorVelocity(rps);
+        return (simState == null) ? StatusCode.OK : simState.setRotorVelocity(rps);
     }
 
     @Override
     public StatusCode setSimRotorPosition(double rotations) {
-        return simState.setRawRotorPosition(rotations);
+        return (simState == null) ? StatusCode.OK :  simState.setRawRotorPosition(rotations);
     }
 
     @Override
     public double getSimMotorVoltage() {
-        return simState.getMotorVoltage();
+        return (simState == null) ? 12 :  simState.getMotorVoltage();
     }
 
     @Override
@@ -90,7 +90,7 @@ public boolean isGhost() {
 
     @Override
     public StatusCode setSimSupplyVoltage(double volts) {
-        return simState.setSupplyVoltage(volts);
+        return (simState == null) ? StatusCode.OK :  simState.setSupplyVoltage(volts);
     }
 }
 
diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java
index 49199b73..81bde516 100644
--- a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java
+++ b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java
@@ -73,12 +73,12 @@ public void zeroMotorPosition() {
 
     @Override
     public StatusCode setSimRotorVelocity(double rps) {
-        return simState.setRotorVelocity(rps);
+        return (simState == null) ? StatusCode.OK :  simState.setRotorVelocity(rps);
     }
 
     @Override
     public double getSimMotorVoltage() {
-        return simState.getMotorVoltage();
+        return (simState == null) ? 12 :  simState.getMotorVoltage();
     }
 
     @Override
@@ -88,7 +88,7 @@ public boolean isGhost() {
 
     @Override
     public StatusCode setSimRotorPosition(double rotations) {
-        return simState.setRawRotorPosition(rotations);
+        return (simState == null) ? StatusCode.OK :  simState.setRawRotorPosition(rotations);
     }
 
     @Override
diff --git a/src/main/java/com/team1816/season/InTheZoneCommand.java b/src/main/java/com/team1816/season/InTheZoneCommand.java
index 726e11ed..40c2c23b 100644
--- a/src/main/java/com/team1816/season/InTheZoneCommand.java
+++ b/src/main/java/com/team1816/season/InTheZoneCommand.java
@@ -7,11 +7,18 @@ public class InTheZoneCommand extends GreenCommand {
 
     private final LedManager.RobotLEDStateEvent robotStateEvent = pubsub.GetEvent(LedManager.RobotLEDStateEvent.class);
 
+    @Override
     public void initialize() {
         robotStateEvent.Publish(LedManager.LEDControlState.BLINK);
     }
 
+    @Override
     public void end(boolean interrupted) {
         robotStateEvent.Publish(LedManager.LEDControlState.SOLID);
     }
+
+    @Override
+    public boolean isFinished() {
+        return true;
+    }
 }
diff --git a/src/main/java/com/team1816/season/subsystems/Gatekeeper.java b/src/main/java/com/team1816/season/subsystems/Gatekeeper.java
index eab937bb..20f9559d 100644
--- a/src/main/java/com/team1816/season/subsystems/Gatekeeper.java
+++ b/src/main/java/com/team1816/season/subsystems/Gatekeeper.java
@@ -69,14 +69,6 @@ public enum GatekeeperState {
             this.bottomMotorValue = bottomMotorValue;
         }
 
-        private void adjustTopMotorValue(double adjustValue) {
-            this.topMotorValue = adjustValue;
-        }
-
-        private void adjustBottomMotorValue(double adjustValue) {
-            this.bottomMotorValue += adjustValue;
-        }
-
         public double getTopMotorValue() {
             return topMotorValue;
         }
diff --git a/src/main/java/com/team1816/season/subsystems/Intake.java b/src/main/java/com/team1816/season/subsystems/Intake.java
index 1dfeef8c..d8d12cc3 100644
--- a/src/main/java/com/team1816/season/subsystems/Intake.java
+++ b/src/main/java/com/team1816/season/subsystems/Intake.java
@@ -150,10 +150,6 @@ public void setWantedState(IntakeState state) {
         this.wantedState = state;
     }
 
-    public boolean isIntaking() { return (wantedState == IntakeState.STOW); }
-
-    public boolean isOutaking() { return (wantedState == IntakeState.INTAKE); }
-
     /**
      * The position of the flipper. This is not just a number, since we are doing a custom current
      * based control, so the behavior is completely different for going in and out.