https://github.com/DeepBlueRobotics/RobotCode2024/blob/631baff6cb16b4468dbdd7a66d9800006b8b9cea/src/main/java/org/carlmontrobotics/commands/RumbleNote.java#L12-L15 See [addRequirements()](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...))