[euhlmann]

Whoops, didn't see that section of the docs

There's an easy way to do what you want in your situation though.

public class ScissorToPosition extends Command {
  // ...
  
  boolean isUnsafe = false;

  public void initialize() {
    if(m_setpoint > 70 && Robot.wristPID.getSetpoint() > 30) { 
      System.out.println("Scissor canceled since wrist > 30"); 
      
      isUnsafe = true;
    } else {
      isUnsafe = false;
      
      // init as usual
    }
  }

  // ...

  public void execute() {
    if(isUnsafe) {
      return;
      // IMPORTANT. execute() will be called once regardless of isFinished() status
    }
    
    // execute as usual
  }

  public void isFinished() {
    if(isUnsafe) {
      return true;
    }
    
    return Robot.scissorPID.onTarget();
  }
}