diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
index f1df279..e29f8b1 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -39,7 +39,8 @@ public class Lancer extends Command {
   public void initialize() {
     if(limeLight3G.getV()){}
     pidController = new PIDController(0.0007, 0,0, 0.001);
-    timer.reset();  
+    timer.reset();
+    alliance = DriverStation.getAlliance();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/Limelighter.java b/src/main/java/frc/robot/commands/Limelighter.java
index ce3c27f..f53e67c 100644
--- a/src/main/java/frc/robot/commands/Limelighter.java
+++ b/src/main/java/frc/robot/commands/Limelighter.java
@@ -42,7 +42,9 @@ public class Limelighter extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
index 768028c..c0bcfa2 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
@@ -47,7 +47,9 @@ public class GrimperMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
index 381b213..8e13cd8 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
@@ -47,7 +47,9 @@ public class GrimperReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
index 2205a84..6dfb2b2 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
@@ -38,6 +38,7 @@ public class LancerAuto extends Command {
   public void initialize() {
     pidController = new PIDController(0.0007, 0, 0, 0.001);
     timer.reset();
+    alliance = DriverStation.getAlliance();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
index 3e749da..71fbab5 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
@@ -42,7 +42,9 @@ public class LimelighterAuto extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
index 24249d7..331f796 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
@@ -37,7 +37,9 @@ public class TournerVersMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
index 0e537eb..c2b9232 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
@@ -37,7 +37,9 @@ public class TournerVersReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override