Change all the run to runOnce

src/main/kotlin/frc/robot/RobotContainer.kt

@@ -107,7 +107,7 @@ object RobotContainer {
         driverController().back()
             .whileTrue(gripper.setRollerPower(0.4))
             .onFalse(gripper.stop())
-        driverController().start().whileTrue(intake.reset())
+        driverController().start().whileTrue(intake.reset()).onFalse(intake.finishReset())
 
         driverController().povUp().whileTrue(climb.openClimb())
         driverController().povDown().whileTrue(climb.closeClimb())
@@ -123,7 +123,7 @@ object RobotContainer {
         operatorController().cross().onTrue(gripper.enableSensor())
         operatorController().circle().onTrue(gripper.disableSensor())
 
-        operatorController().options().whileTrue(intake.reset())
+        operatorController().options().whileTrue(intake.reset()).onFalse(intake.finishReset())
     }
 
     fun getAutonomousCommand(): Command = autoChooser.get()

src/main/kotlin/frc/robot/subsystems/climb/Climb.kt

@@ -38,15 +38,17 @@ class Climb private constructor(private val io: ClimbIO) : SubsystemBase() {
     }
 
     fun unlock(): Command {
-        return Commands.run(io::openStopper).until { isStopperStuck }.andThen(io::disableStopper)
+        return Commands.runOnce(io::openStopper).andThen(Commands.waitUntil { isStopperStuck })
+            .andThen(io::disableStopper)
     }
 
     fun lock(): Command {
-        return Commands.run(io::closeStopper).until { isStopperStuck }.andThen(io::disableStopper)
+        return Commands.runOnce(io::closeStopper).andThen(Commands.waitUntil { isStopperStuck })
+            .andThen(io::disableStopper)
     }
 
     fun setPower(power: DoubleSupplier): Command {
-        return run { io.setPower(power.asDouble) }
+        return runOnce { io.setPower(power.asDouble) }
     }
 
     fun stop(): Command = setPower { 0.0 }.withTimeout(0.02)

src/main/kotlin/frc/robot/subsystems/conveyor/Conveyor.kt

@@ -46,13 +46,13 @@ class Conveyor private constructor(private val io: ConveyorIO) : SubsystemBase()
         timer.reset()
     }
 
-    fun setVelocity(velocitySupplier: () -> AngularVelocity): Command = run {
+    fun setVelocity(velocitySupplier: () -> AngularVelocity): Command = runOnce {
         val velocity = velocitySupplier.invoke()
         velocitySetpoint = velocity
         io.setVelocity(velocity)
     }
 
-    fun setVelocity(velocity: AngularVelocity): Command = run {
+    fun setVelocity(velocity: AngularVelocity): Command = runOnce {
         velocitySetpoint = velocity
         io.setVelocity(velocity)
     }

src/main/kotlin/frc/robot/subsystems/gripper/Gripper.kt

@@ -42,7 +42,7 @@ class Gripper private constructor(private val io: GripperIO) : SubsystemBase() {
     }
 
     fun setRollerPower(power: Double): Command {
-        return run {
+        return runOnce {
             rollerPowerSetPoint = power
             io.setRollerMotorPower(power)
         }.withName("Set Roller Power")

src/main/kotlin/frc/robot/subsystems/hood/Hood.kt

@@ -79,7 +79,7 @@ class Hood private constructor(private val io: HoodIO) : SubsystemBase() {
     }
 
     fun setAngle(angleSupplier: () -> Angle): Command {
-        return run {
+        return runOnce {
             val angle = angleSupplier.invoke()
             angleSetpoint = angle
             io.setAngle(angle)

src/main/kotlin/frc/robot/subsystems/intake/Intake.kt

@@ -83,12 +83,14 @@ class Intake private constructor(private val io: IntakeIO) : SubsystemBase() {
     }
 
     fun reset(): Command {
-        return Commands.run({ io.setAnglePower(-0.3) }).finallyDo(
-            Runnable {
-                io.resetEncoder()
-                io.setAnglePower(0.0)
-            }
-        )
+        return Commands.runOnce({ io.setAnglePower(-0.3) })
+    }
+
+    fun finishReset(): Command {
+        return Commands.runOnce({
+            io.resetEncoder()
+            io.setAnglePower(0.0)
+        })
     }
 
     override fun periodic() {

src/main/kotlin/frc/robot/subsystems/shooter/Shooter.kt

@@ -78,7 +78,7 @@ class Shooter private constructor(private val io: ShooterIO) : SubsystemBase() {
     }
 
     fun setVelocity(velocitySupplier: () -> AngularVelocity): Command {
-        return run {
+        return runOnce {
             val velocity = velocitySupplier.invoke()
             topVelocitySetpoint = velocity
             bottomVelocitySetpoint = velocity

src/main/kotlin/frc/robot/subsystems/swerve/ModuleIOSim.kt

@@ -103,7 +103,7 @@ class ModuleIOSim() : ModuleIO {
     }
 
     override fun checkModule(): Command? {
-        return Commands.run(
+        return Commands.runOnce(
             {
                 driveControlRequest.withVelocity(0.8 * SwerveConstants.MAX_X_Y_VELOCITY)
                 driveMotor.setControl(driveControlRequest)

src/main/kotlin/frc/robot/subsystems/swerve/ModuleIOSparkMax.kt

@@ -127,7 +127,7 @@ class ModuleIOSparkMax(
     }
 
     override fun checkModule(): Command? {
-        return Commands.run(
+        return Commands.runOnce(
             {
                 driveMotor.set(0.8)
                 angleMotor.set(0.2)

src/main/kotlin/frc/robot/subsystems/swerve/ModuleIOTalonFX.kt

@@ -122,7 +122,7 @@ class ModuleIOTalonFX(
     }
 
     override fun checkModule(): Command? {
-        return Commands.run(
+        return Commands.runOnce(
             {
                 driveMotor.set(0.8)
                 angleMotor.set(0.2)