diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 669e06a..e795c5d 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -71,6 +71,7 @@ import frc4388.robot.Constants.OIConstants;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.Constants.StorageConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.commands.BasicCommandChooser;
 import frc4388.robot.commands.ComplexCommandChooser;
 import frc4388.robot.commands.ButtonBoxCommands.RunMiddleSwitch;
 import frc4388.robot.commands.ButtonBoxCommands.RunTurretOrClimberAuto;
@@ -170,6 +171,7 @@ public class RobotContainer {
   // climber mode switching
   // private enum ClimberMode { MANUAL, AUTONOMOUS };
   private ControlMode currentClimberMode = ControlMode.MANUAL;
+  private boolean command1 = true;
 
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -361,40 +363,17 @@ public class RobotContainer {
       
     // toggle manual mode and autonomous mode based on the current control mode
     new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
+      .whenPressed(new InstantCommand(() -> this.command1 = !this.command1))
+      .whenPressed(new BasicCommandChooser( new RunCommand(() -> System.out.println("COMMAND 1")), 
+                                            new RunCommand(() -> System.out.println("COMMAND 2")),
+                                            () -> this.command1 == true,
+                                            () -> this.command1 == false))
+      .whenReleased(new InstantCommand(() -> this.command1 = !this.command1));
 
-    // .whenPressed(new InstantCommand(() -> {
-    //   if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotTurret.gotoZero(); }
-    // }, m_robotTurret))
-
-    //   .whenPressed(new InstantCommand(() -> {
-    //     if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.MANUAL; } 
-    //     if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.AUTONOMOUS; }
-    //   }))
-
-      // * custom Command inside InstantCommand
-      // .whenPressed(new InstantCommand(() -> {
-      //   if (this.currentControlMode.equals(ControlMode.CLIMBER)) { new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}); }
-      //   if (this.currentControlMode.equals(ControlMode.SHOOTER)) { new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry); }
-      // })
-      //   .until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
-      
-      // * external RunTurretOrClimberAutos command, which runs either one (conditionally) based on currentControlMode
-      // .whenPressed(new RunTurretOrClimberAuto(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry, m_robotClimber, m_robotClaws))
-
-      // * CommandChooser with BooleanSuppliers
-      .whenPressed(new ComplexCommandChooser(new HashMap<Command, BooleanSupplier>() {{
-        put(new InstantCommand(() -> System.out.println("true")), () -> true);
-        put(new InstantCommand(() -> System.out.println("false")), () -> false);
-      }}));
-      // .whenPressed(new CommandChooser(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}), 
-      //                                 new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry), 
-      //                                 () -> this.currentControlMode.equals(SubsystemMode.CLIMBER),
-      //                                 () -> this.currentControlMode.equals(SubsystemMode.SHOOTER)))
-
-      // .whenReleased(new InstantCommand(() -> {
-      //   if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.AUTONOMOUS; }
-      //   if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.MANUAL; }
-      // }));
+      // .whenPressed(new ComplexCommandChooser(new HashMap<Command, BooleanSupplier>() {{
+      //   put(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}), () -> currentControlMode.equals(SubsystemMode.CLIMBER));
+      //   put(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry), () -> currentControlMode.equals(SubsystemMode.SHOOTER));
+      // }}));
 
     new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
     .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))