diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
index 90fb4adcf4e..f7545f813f4 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
@@ -56,35 +56,35 @@ TEST_F(ConditionalCommandTest, ConditionalCommandRequirement) {
 }
 
 TEST_F(ConditionalCommandTest, AllTrue) {
-  CommandPtr command = cmd::Either(cmd::Run([] {}, {}).IgnoringDisable(true),
-                                   cmd::Run([] {}, {}).IgnoringDisable(true),
+  auto command = cmd::Either(cmd::Idle().IgnoringDisable(true),
+                                   cmd::Idle().IgnoringDisable(true),
                                    [] { return true; });
   EXPECT_EQ(true, command.get()->RunsWhenDisabled());
 }
 
 TEST_F(ConditionalCommandTest, AllFalse) {
-  CommandPtr command = cmd::Either(cmd::Run([] {}, {}).IgnoringDisable(false),
-                                   cmd::Run([] {}, {}).IgnoringDisable(false),
+  auto command = cmd::Either(cmd::Idle().IgnoringDisable(false),
+                                   cmd::Idle().IgnoringDisable(false),
                                    [] { return true; });
   EXPECT_EQ(false, command.get()->RunsWhenDisabled());
 }
 
 TEST_F(ConditionalCommandTest, OneTrueOneFalse) {
-  CommandPtr command = cmd::Either(cmd::Run([] {}, {}).IgnoringDisable(true),
-                                   cmd::Run([] {}, {}).IgnoringDisable(false),
+  auto command = cmd::Either(cmd::Idle().IgnoringDisable(true),
+                                   cmd::Idle().IgnoringDisable(false),
                                    [] { return true; });
   EXPECT_EQ(false, command.get()->RunsWhenDisabled());
 }
 
 TEST_F(ConditionalCommandTest, TwoFalseOneTrue) {
-  CommandPtr command = cmd::Either(cmd::Run([] {}, {}).IgnoringDisable(false),
-                                   cmd::Run([] {}, {}).IgnoringDisable(true),
+  auto command = cmd::Either(cmd::Idle().IgnoringDisable(false),
+                                   cmd::Idle().IgnoringDisable(true),
                                    [] { return true; });
   EXPECT_EQ(false, command.get()->RunsWhenDisabled());
 }
 
 TEST_F(ConditionalCommandTest, AllCancelSelf) {
-  CommandPtr command = cmd::Either(
+  auto command = cmd::Either(
       cmd::WaitUntil([] {
         return false;
       }).WithInterruptBehavior(Command::InterruptionBehavior::kCancelSelf),
@@ -97,10 +97,10 @@ TEST_F(ConditionalCommandTest, AllCancelSelf) {
 }
 
 TEST_F(ConditionalCommandTest, AllCancelIncoming) {
-  CommandPtr command =
-      cmd::Either(cmd::Run([] {}, {}).WithInterruptBehavior(
+  auto command =
+      cmd::Either(cmd::Idle().WithInterruptBehavior(
                       Command::InterruptionBehavior::kCancelIncoming),
-                  cmd::Run([] {}, {}).WithInterruptBehavior(
+                  cmd::Idle().WithInterruptBehavior(
                       Command::InterruptionBehavior::kCancelIncoming),
                   [] { return false; });
   EXPECT_EQ(Command::InterruptionBehavior::kCancelIncoming,
@@ -108,10 +108,10 @@ TEST_F(ConditionalCommandTest, AllCancelIncoming) {
 }
 
 TEST_F(ConditionalCommandTest, OneCancelSelfOneIncoming) {
-  CommandPtr command =
-      cmd::Either(cmd::Run([] {}, {}).WithInterruptBehavior(
+  auto command =
+      cmd::Either(cmd::Idle().WithInterruptBehavior(
                       Command::InterruptionBehavior::kCancelSelf),
-                  cmd::Run([] {}, {}).WithInterruptBehavior(
+                  cmd::Idle().WithInterruptBehavior(
                       Command::InterruptionBehavior::kCancelIncoming),
                   [] { return false; });
   EXPECT_EQ(Command::InterruptionBehavior::kCancelSelf,
@@ -119,10 +119,10 @@ TEST_F(ConditionalCommandTest, OneCancelSelfOneIncoming) {
 }
 
 TEST_F(ConditionalCommandTest, OneCancelIncomingOneSelf) {
-  CommandPtr command =
-      cmd::Either(cmd::Run([] {}, {}).WithInterruptBehavior(
+  auto command =
+      cmd::Either(cmd::Idle().WithInterruptBehavior(
                       Command::InterruptionBehavior::kCancelIncoming),
-                  cmd::Run([] {}, {}).WithInterruptBehavior(
+                  cmd::Idle().WithInterruptBehavior(
                       Command::InterruptionBehavior::kCancelSelf),
                   [] { return false; });
   EXPECT_EQ(Command::InterruptionBehavior::kCancelSelf,
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
index 650db1f9152..bcf2aed5b68 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
@@ -16,7 +16,7 @@ TEST_F(DefaultCommandTest, DefaultCommandSchedule) {
 
   TestSubsystem subsystem;
 
-  auto command = cmd::Run([] {}, {&subsystem});
+  auto command = cmd::Idle({&subsystem});
 
   scheduler.SetDefaultCommand(&subsystem, std::move(command));
   auto handle = scheduler.GetDefaultCommand(&subsystem);
@@ -30,8 +30,8 @@ TEST_F(DefaultCommandTest, DefaultCommandInterruptResume) {
 
   TestSubsystem subsystem;
 
-  auto command1 = cmd::Run([] {}, {&subsystem});
-  auto command2 = cmd::Run([] {}, {&subsystem});
+  auto command1 = cmd::Idle({&subsystem});
+  auto command2 = cmd::Idle({&subsystem});
 
   scheduler.SetDefaultCommand(&subsystem, std::move(command1));
   auto handle = scheduler.GetDefaultCommand(&subsystem);
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
index dd3b54fed36..3781928ea64 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
@@ -125,13 +125,10 @@ TEST_F(SequentialCommandGroupTest, SequentialGroupRequirement) {
   TestSubsystem requirement4;
 
   auto command1 = cmd::RunOnce([] {}, {&requirement1, &requirement2});
-  // InstantCommand command1([] {}, {&requirement1, &requirement2});
   auto command2 = cmd::RunOnce([] {}, {&requirement3});
   auto command3 = cmd::RunOnce([] {}, {&requirement3, &requirement4});
 
-  // SequentialCommandGroup group(std::move(command1), std::move(command2));
-  auto group = cmd::Sequence(
-      make_vector<CommandPtr>(std::move(command1), std::move(command2)));
+  auto group = cmd::Sequence(std::move(command1), std::move(command2));
 
   scheduler.Schedule(group);
   scheduler.Schedule(command3);