[Pault]

The requires function is in there for a reason: no 2 commands can run in parallel if they require the same subsystem. This is to idiot-proof* the structure so that you don't send conflicting information to a motor/solenoid/etc and confusing the robot. And you need to "require" a subsytem in order to use it, for the same reason as above. Without knowing the details of what you are doing, it is tough for me to make a recommendation, but I will try to offer some general advice. Look at the subsystem you have, and see if it can be divided up into 2+ smaller subsytems. This will eliminate the problem you are currently having, as well as save you a lot of trouble further down the line when you run into other similar problems. If you can't divide up the subsystem, then you are just going to have to figure out how to combine the 2 commands into 1.

Hope this helps.

*I say idiot-proof, but its a pretty common mistake, actually, and can cause big problems.