diff --git a/src/main/java/frc/robot/CommandFactory.java b/src/main/java/frc/robot/CommandFactory.java
index afb928c8..d4281444 100644
--- a/src/main/java/frc/robot/CommandFactory.java
+++ b/src/main/java/frc/robot/CommandFactory.java
@@ -163,11 +163,12 @@ private Command formSafeMovementCommand(Position pos) {
     } else {
       if (currentHeight < ELEVATOR_PIVOT_LIMBO || goalHeight < currentHeight || goalAngle < currentAngle) {
         commands.addCommands(new PivotMoveCommand(subsystemManager.getPivotSubsystem(), Position.SAFE_EXTEND));
-        commands.addCommands(new ElevatorMoveCommand(subsystemManager.getElevatorSubsystem(), pos));
-        commands.addCommands(new PivotMoveCommand(subsystemManager.getPivotSubsystem(), pos));
-      } else {
-        commands.addCommands(new ElevatorMoveCommand(subsystemManager.getElevatorSubsystem(), pos));
-        commands.addCommands(new PivotMoveCommand(subsystemManager.getPivotSubsystem(), pos));
+      }
+      
+      commands.addCommands(new ElevatorMoveCommand(subsystemManager.getElevatorSubsystem(), pos));
+
+      if (!RobotIO.getInstance().getInternalCoralDetectorOutput().hasCoral()){
+          commands.addCommands(new PivotMoveCommand(subsystemManager.getPivotSubsystem(), pos));
       }
     }
     return commands;
diff --git a/src/main/java/frc/robot/operation/OperatorInterface.java b/src/main/java/frc/robot/operation/OperatorInterface.java
index d416454a..34f239bc 100644
--- a/src/main/java/frc/robot/operation/OperatorInterface.java
+++ b/src/main/java/frc/robot/operation/OperatorInterface.java
@@ -221,6 +221,7 @@ public void operatorBindings() {
           () -> RobotIO.getInstance().getInternalCoralDetectorOutput().hasCoral()
         )
       );
+
   }
 
   private SendableChooser<Command> getTestCommandChooser() {