From 783edd6793742e8cf19fc7cfede49af1fe7a26c7 Mon Sep 17 00:00:00 2001
From: blaze-developer <bryceblazegaming@gmail.com>
Date: Mon, 16 Feb 2026 20:32:42 -0800
Subject: [PATCH] Save one loop cycle and ensure only runs in simulation

---
 src/main/java/frc/robot/commands/drive/DriveCommands.java | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/drive/DriveCommands.java b/src/main/java/frc/robot/commands/drive/DriveCommands.java
index db9befe..8cd1a78 100644
--- a/src/main/java/frc/robot/commands/drive/DriveCommands.java
+++ b/src/main/java/frc/robot/commands/drive/DriveCommands.java
@@ -601,8 +601,10 @@ public static Command initialFollowPathCommand(Drive drive, String pathName, boo
               drive,
               startingPose,
               false
+          ).alongWith(
+            Commands.runOnce(() -> MapleSimUtil.placeRobotOnField(startingPose))
+              .onlyIf(() -> Constants.getMode() == Mode.SIM)
           ),
-          Commands.runOnce(() -> MapleSimUtil.placeRobotOnField(startingPose)),
           AutoBuilder.followPath(path.get()));
     }