diff --git a/src/main/java/competition/auto_programs/AutoCommandFactory.java b/src/main/java/competition/auto_programs/AutoCommandFactory.java
index 529546ef..0f6fb758 100644
--- a/src/main/java/competition/auto_programs/AutoCommandFactory.java
+++ b/src/main/java/competition/auto_programs/AutoCommandFactory.java
@@ -130,11 +130,13 @@ public Command statusMessage(String message) {
     /**
      * Drives to the neutral zone ball pit, deploys the intake, drives across to collect balls.
      */
-    public Command collectFromNeutralZone() {
+    public Command collectFromNeutralZone(Command collectorWaitCommand) {
         var group = new SequentialCommandGroup();
         group.setName("CollectFromNeutralZone");
 
-        group.addCommands(driveToNeutralZoneProvider.get());
+        group.addCommands(new ParallelDeadlineGroup(
+                driveToNeutralZoneProvider.get(),
+                collectorWaitCommand.andThen(collectorIntakeProvider.get())));
 
         group.addCommands(new ParallelDeadlineGroup(
                 firstDriveForCollectionCommandProvider.get(),
@@ -146,11 +148,13 @@ public Command collectFromNeutralZone() {
         /**
      * Drives to the neutral zone ball pit, deploys the intake, drives across to collect balls.
      */
-    public Command collectFromNeutralZoneSecond() {
+    public Command collectFromNeutralZoneSecond(Command collectorWaitCommand) {
         var group = new SequentialCommandGroup();
         group.setName("CollectFromNeutralZoneSecond");
 
-        group.addCommands(driveToNeutralZoneSecondTimeProvider.get());
+        group.addCommands(new ParallelDeadlineGroup(
+                driveToNeutralZoneSecondTimeProvider.get()
+                collectorWaitCommand.andThen(collectorIntakeProvider.get())));
 
         group.addCommands(new ParallelDeadlineGroup(
                 secondDriveForCollectionCommandProvider.get(),
@@ -172,7 +176,6 @@ public Command driveToAllianceAndShoot(Command shootingDeadline) {
         prepareToShoot.setPresetLocation(TrajectoriesCalculation.PresetShootingDistance.TRENCH);
         group.addCommands(new ParallelDeadlineGroup(
                 driveFromNeutralZoneToAllianceProvider.get(),
-                collectorStopProvider.get(),
                 prepareToShoot));
 
         var continuousPrepare = continuousPrepareToShootProvider.get();
diff --git a/src/main/java/competition/auto_programs/CollectAndShootTwiceCommand.java b/src/main/java/competition/auto_programs/CollectAndShootTwiceCommand.java
index 3c9310a1..0adcf5c7 100644
--- a/src/main/java/competition/auto_programs/CollectAndShootTwiceCommand.java
+++ b/src/main/java/competition/auto_programs/CollectAndShootTwiceCommand.java
@@ -19,16 +19,17 @@ public CollectAndShootTwiceCommand(
         pf.setPrefix(this.getName());
         var firstShotTimeout = pf.createPersistentProperty("First shot timeout seconds", 3.0);
         var secondShotTimeout = pf.createPersistentProperty("Second shot timeout seconds", 10.0);
+        var collectorWait = pf.createPersistentProperty("Collector run wait seconds", 1.0);
 
         addCommands(
                 auto.extendIntake(),
-                auto.collectFromNeutralZone()
+                auto.collectFromNeutralZone(new WaitForDurationCommand(collectorWait::get))
                         .alongWith(auto.statusMessage("Driving to neutral zone and back")),
                 auto.driveToAllianceAndShoot(
                         auto.waitForShootingDone().raceWith(new WaitForDurationCommand(firstShotTimeout::get)))
                         .alongWith(auto.statusMessage("Driving to alliance and shoot")),
                 auto.stopShooting().alongWith(auto.extendIntake()),
-                auto.collectFromNeutralZoneSecond()
+                auto.collectFromNeutralZoneSecond(new WaitForDurationCommand(collectorWait::get))
                         .alongWith(auto.statusMessage("Driving to neutral zone and back the second time")),
                 auto.driveToAllianceAndShoot(new WaitForDurationCommand(secondShotTimeout::get))
                         .alongWith(auto.statusMessage("Driving to alliance and shoot")));