From 2e962db0354f2160fde465f6f33f53d3f8dd74e3 Mon Sep 17 00:00:00 2001
From: chococaker <152650318+chococaker@users.noreply.github.com>
Date: Fri, 27 Mar 2026 17:05:12 -0500
Subject: [PATCH 1/2] Add controller deadband

---
 .../com/team1816/lib/commands/PathfindToPoseCommand.java | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

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;
     }
 }

From 4095bf13b38be1f00aee5e5feeff987c3c1218e1 Mon Sep 17 00:00:00 2001
From: chococaker <152650318+chococaker@users.noreply.github.com>
Date: Fri, 27 Mar 2026 17:25:21 -0500
Subject: [PATCH 2/2] Prevent two pathfind commands from occurring at the same
 time

---
 src/main/java/com/team1816/lib/auto/PathfindManager.java | 5 +++++
 1 file changed, 5 insertions(+)

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) {