probably decided to go with the CommandChooser solution, this shoudl work

src/main/java/frc4388/robot/commands/CommandChooser.java

@@ -4,42 +4,69 @@
 
 package frc4388.robot.commands;
 
+import java.util.Set;
 import java.util.function.BooleanSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
 public class CommandChooser extends CommandBase {
 
   private Command c1;
   private Command c2;
 
-  private BooleanSupplier bs1;
-  private BooleanSupplier bs2;
+  private Boolean b1;
+  private Boolean b2;
+  
+  private Command chosen;
 
   /** Creates a new CommandChooser. */
   public CommandChooser(Command c1, Command c2, BooleanSupplier bs1, BooleanSupplier bs2) {
     // Use addRequirements() here to declare subsystem dependencies.
 
+    this.c1 = c1;
+    this.c2 = c2;
 
-    addRequirements(c1.getRequirements().toArray());
+    this.b1 = bs1.getAsBoolean();
+    this.b2 = bs2.getAsBoolean();
+
+    this.chosen = getChosen();
+
+    Set<Subsystem> allReqs = c1.getRequirements();
+    allReqs.addAll(c2.getRequirements());
+    addRequirements((Subsystem[]) allReqs.toArray());
+  }
+
+  public Command getChosen() {
+    if (this.b1) {
+      return this.c1;
+    } else {
+      return this.c2;
+    }
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    this.chosen.initialize();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    this.chosen.execute();
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    this.chosen.end(interrupted);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return this.chosen.isFinished();
   }
 }