diff --git a/src/main/java/frc/robot/commands/swerve/AutoIntakeSequence.java b/src/main/java/frc/robot/commands/swerve/AutoIntakeSequence.java
index ebdbd018..548d34d2 100644
--- a/src/main/java/frc/robot/commands/swerve/AutoIntakeSequence.java
+++ b/src/main/java/frc/robot/commands/swerve/AutoIntakeSequence.java
@@ -1,20 +1,23 @@
 package frc.robot.commands.swerve;
 
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.commands.intake.pivot.IntakePivotSetPositionCommand;
 import frc.robot.commands.intake.roller.IntakeRollerIntakeCommand;
 import frc.robot.controllers.BaseDriveController;
 import frc.robot.subsystems.intake.IntakePivotSubsystem;
 import frc.robot.subsystems.intake.IntakeRollerSubsystem;
-import frc.robot.subsystems.leds.LEDSubsystem;
 import frc.robot.subsystems.leds.LightBarSubsystem;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
 import frc.robot.vision.NoteDetectionWrapper;
 
+/**
+ * Attempts to intake while moving towards the nearest detected note.
+ * This command deploys the intake when run, but does not stow it when complete.
+ */
 public class AutoIntakeSequence extends SequentialCommandGroup {
 
+    /** Constructs an {@link AutoIntakeSequence} using the specified subsystems. */
     public AutoIntakeSequence(IntakeRollerSubsystem intakeRollerSubsystem,
                               IntakePivotSubsystem intakePivotSubsystem,
                               SwerveSubsystem swerveSubsystem,
@@ -22,11 +25,13 @@ public AutoIntakeSequence(IntakeRollerSubsystem intakeRollerSubsystem,
                               BaseDriveController driveController,
                               LightBarSubsystem lightBarSubsystem) {
 
-        addCommands(new IntakePivotSetPositionCommand(intakePivotSubsystem, 1),
-                    new ParallelCommandGroup(
-                        new NoteAlignCommand(swerveSubsystem, noteDetector, driveController).until(intakeRollerSubsystem::getFrontSensorValue),
-                        new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem)
-                    )
+        addCommands(
+            new IntakePivotSetPositionCommand(intakePivotSubsystem, 1),
+            new ParallelCommandGroup(
+                new NoteAlignCommand(swerveSubsystem, noteDetector, driveController)
+                    .until(intakeRollerSubsystem::getFrontSensorValue),
+                new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem)
+            )
         );
     }
 }
diff --git a/src/main/java/frc/robot/commands/swerve/NoteAlignCommand.java b/src/main/java/frc/robot/commands/swerve/NoteAlignCommand.java
index ceebd834..c6e75632 100644
--- a/src/main/java/frc/robot/commands/swerve/NoteAlignCommand.java
+++ b/src/main/java/frc/robot/commands/swerve/NoteAlignCommand.java
@@ -1,7 +1,6 @@
 package frc.robot.commands.swerve;
 
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.controllers.BaseDriveController;