diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index dd45420..1247a44 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -93,7 +93,7 @@ public void disabledExit() {
     LimelightHelpers.SetThrottle(ConstVision.LIMELIGHT_LEFT_NAME, ConstVision.TeleopThrottle);
     LimelightHelpers.SetThrottle(ConstVision.LIMELIGHT_BACK_NAME, ConstVision.TeleopThrottle);
     m_robotContainer.visionInstance.setIMUAssistMode(true);
-    m_robotContainer.addVisionMeasurement().schedule();
+    CommandScheduler.getInstance().schedule(m_robotContainer.addVisionMeasurement());
   }
 
   @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8096baa..ee9cd86 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -142,10 +142,9 @@ public void configAutonomous() {
     {
       ChoreoTraj startingPose = autoStartingPoses.get(selectedAuto);
       // if there is a starting pose, reset to it
-      if (startingPose != null) {
-        autoFactory.resetOdometry(startingPose.name())
-            .ignoringDisable(true) // Run even when disabled
-            .schedule();
+      if (startingPose != null) { // Run even when disabled
+        CommandScheduler.getInstance().schedule(autoFactory.resetOdometry(startingPose.name())
+            .ignoringDisable(true));// Run even when disabled
       }
     });