diff --git a/src/main/java/com/team1816/lib/auto/PathfindManager.java b/src/main/java/com/team1816/lib/auto/PathfindManager.java
index f591549c..516e1173 100644
--- a/src/main/java/com/team1816/lib/auto/PathfindManager.java
+++ b/src/main/java/com/team1816/lib/auto/PathfindManager.java
@@ -54,6 +54,11 @@ public void addPath(PathfindToPoseCommand cmd) {
     }
 
     public void startPathfinding() {
+        if (currentPathCommand != null) {
+            GreenLogger.log("Canceled current path command");
+            currentPathCommand.cancel();
+        }
+
         currentPathCommand =  commandChooser.getSelected();
 
         if (currentPathCommand == null) {
diff --git a/src/main/java/com/team1816/lib/commands/PathfindToPoseCommand.java b/src/main/java/com/team1816/lib/commands/PathfindToPoseCommand.java
index 3fc716fd..dc3d2c56 100644
--- a/src/main/java/com/team1816/lib/commands/PathfindToPoseCommand.java
+++ b/src/main/java/com/team1816/lib/commands/PathfindToPoseCommand.java
@@ -24,6 +24,8 @@ public PathfindToPoseCommand(String pathName,
         this.constraints = constraints;
     }
 
+    private static final double CONTROLLER_DEADBAND = 0.01;
+
     private Command internalCommand;
 
     private final Pose2d targetPose;
@@ -91,8 +93,9 @@ private boolean shouldFlip() {
     }
 
     private boolean controllerInputDetected() {
-        return controller.getLeftY()  != 0
-            || controller.getLeftX()  != 0
-            || controller.getRightX() != 0;
+        return Math.abs(controller.getLeftX()) >= CONTROLLER_DEADBAND
+            || Math.abs(controller.getLeftY()) >= CONTROLLER_DEADBAND
+            || Math.abs(controller.getRightX()) >= CONTROLLER_DEADBAND
+            || Math.abs(controller.getRightY()) >= CONTROLLER_DEADBAND;
     }
 }