some reviews adressed

build.gradle

@@ -60,7 +60,7 @@ dependencies {
     annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
-    implementation 'org.junit.jupiter:junit-jupiter-api:5.+'
+    implementation 'org.junit.jupiter:junit-jupiter-api:5.11.4'
 
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
     roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
@@ -77,9 +77,9 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     // Junit testing
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.+'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.+'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5+'
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.11.4'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.11.4'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.11.4'
 
     // Monologue
     implementation 'com.github.shueja:Monologue:+'

src/main/java/org/sciborgs1155/robot/commands/Scoraling.java

@@ -1,6 +1,7 @@
 package org.sciborgs1155.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import org.sciborgs1155.robot.Constants.Field.Level;
 import org.sciborgs1155.robot.elevator.Elevator;
 import org.sciborgs1155.robot.hopper.Hopper;
@@ -29,7 +30,7 @@ public Scoraling(Hopper hopper, Scoral scoral, Elevator elevator) {
   public Command hpsIntake() {
     return elevator
         .retract()
-        .andThen(runRollers())
+        .alongWith(Commands.waitUntil(elevator::atGoal).andThen(runRollers()))
         .onlyIf(scoral.beambreakTrigger)
         .withName("intakingHPS");
   }
@@ -41,7 +42,10 @@ public Command hpsIntake() {
    * @param level the level the scoral scores in
    */
   public Command scoral(Level level) {
-    return elevator.scoreLevel(level).andThen(scoral.outtake()).withName("scoraling");
+    return elevator
+        .scoreLevel(level)
+        .alongWith(Commands.waitUntil(elevator::atGoal).andThen(scoral.outtake()))
+        .withName("scoraling");
   }
 
   /**
@@ -52,7 +56,7 @@ public Command scoral(Level level) {
   public Command cleanAlgae(Level level) {
     return elevator
         .clean(level)
-        .andThen(scoral.intake())
+        .alongWith(Commands.waitUntil(elevator::atGoal).andThen(scoral.intake()))
         .onlyIf(scoral.beambreakTrigger)
         .withName("cleanAlgae");
   }

src/main/java/org/sciborgs1155/robot/elevator/Elevator.java

@@ -108,11 +108,11 @@ public Command scoreLevel(Level level) {
   /** Goes to an offset height above the level given to clean algae ONLY L2 and L3! */
   public Command clean(Level level) {
     if (level == Level.L1 || level == Level.L4) {
-      retract();
       FaultLogger.report(
           "Algae level fault",
           "an invalid level has been passed to the clean command, L1 or L4",
           FaultType.WARNING);
+      return retract();
     }
 
     return goTo(level.height.plus(algaeOffset).in(Meters));

src/main/java/org/sciborgs1155/robot/hopper/Hopper.java

@@ -42,6 +42,8 @@ public Hopper(SimpleMotor motor, Beambreak beambreak) {
     this.motor = motor;
     this.beambreak = beambreak;
     this.beambreakTrigger = new Trigger(beambreak::get);
+
+    setDefaultCommand(stop());
   }
 
   /**

src/main/java/org/sciborgs1155/robot/scoral/Scoral.java

@@ -18,7 +18,7 @@
 import org.sciborgs1155.robot.Robot;
 
 public class Scoral extends SubsystemBase implements Logged, AutoCloseable {
-  private final SimpleMotor hardware;
+  private final SimpleMotor motor;
 
   private final Beambreak beambreak;
   public final Trigger beambreakTrigger;
@@ -43,25 +43,27 @@ private static SimpleMotor realMotor() {
     return SimpleMotor.talon(new TalonFX(ROLLER), config);
   }
 
-  public Scoral(SimpleMotor hardware, Beambreak beambreak) {
-    this.hardware = hardware;
+  public Scoral(SimpleMotor motor, Beambreak beambreak) {
+    this.motor = motor;
     this.beambreak = beambreak;
     beambreakTrigger = new Trigger(beambreak::get);
+
+    setDefaultCommand(stop());
   }
 
   /** Runs the motor to move a coral out of the scoral outwards. */
   public Command outtake() {
-    return run(() -> hardware.set(POWER)).withName("outtake");
+    return run(() -> motor.set(POWER)).withName("outtake");
   }
 
   /** Runs the motor to move a coral into the scoral. */
   public Command intake() {
-    return run(() -> hardware.set(POWER)).withName("intake");
+    return run(() -> motor.set(POWER)).withName("intake");
   }
 
   /** Stops the motor */
   public Command stop() {
-    return run(() -> hardware.set(0)).withName("stop");
+    return run(() -> motor.set(0)).withName("stop");
   }
 
   /** Returns the value of the beambreak, which is false when the beam is broken. */
@@ -77,6 +79,6 @@ public void periodic() {
 
   @Override
   public void close() throws Exception {
-    hardware.close();
+    motor.close();
   }
 }

src/test/java/org/sciborgs1155/robot/ScoralingTest.java

@@ -69,7 +69,9 @@ public void scoralTest(Level level) {
   @ParameterizedTest
   @MethodSource("levels")
   public void algaeCleanTest(Level level) {
-    if (level == Level.L1 || level == Level.L4) {}
+    if (level == Level.L1 || level == Level.L4) {
+      return;
+    }
     run(scoraling.cleanAlgae(level));
     fastForward();
     assertEquals(