[DjScribbles]

@jwakeman: your issue appears to be that your alternate condition was causing a new command to be created every iteration. This would cause a new command to be created, assigned to the button, and interrupt the old each iteration.

I haven't tried this code, but the pattern I used was like this:

<in class definition>
Command *mainCommand;
Command *altCommand;

<in constructor>
mainCommand = new MainCommand();
altCommand = new AlternativeCommand();

<in periodic function within the same class>
    if (condition)
    {
        button->whenPressed(altCommand);
    }
    else
    {
        button->whenPressed(mainCommand);
    }

This way, you have only have one instance of each command that can be assigned to the button.
I put this code in the OI class, and added an UpdateOI function, which is called from the teleop periodic loop.