diff --git a/.github/workflows/android.yml b/.github/workflows/android.yml
index 521dce53f89f..31227f9be2fa 100644
--- a/.github/workflows/android.yml
+++ b/.github/workflows/android.yml
@@ -3,8 +3,6 @@ name: Android CI
 on:
   push:
     branches: [ "master" ]
-  pull_request:
-    branches: [ "master" ]
 
 jobs:
   build:
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TaskOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TaskOpMode.java
index b154f72bb809..07d3b166edd8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TaskOpMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TaskOpMode.java
@@ -43,6 +43,9 @@ public void runOpMode() {
                     task.finish();
                     tasks.remove(taskId, task);
                     taskLinks.remove(taskId);
+                    taskLinks.entrySet().stream()
+                            .filter(e -> e.getValue() == taskId)
+                            .forEach(e -> tasks.get(e).init());
                     continue;
                 }
                 Integer linkedTaskId = taskLinks.get(taskId);
@@ -56,6 +59,7 @@ public void runOpMode() {
     }
 
     public int registerTask(Task task) {
+        task.init();
         return registerTask(task, -1);
     }
 
@@ -70,7 +74,6 @@ public int registerTask(Task task) {
      * @return the taskId of the registered task.
      */
     public int registerTask(Task task, int linkedTaskId) {
-        task.init();
         int taskId = findMinFreeTaskId();
         tasks.put(taskId, task);
         taskLinks.put(taskId, linkedTaskId);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/task/Task.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/task/Task.java
index 2ced8b70b134..6776ae6a1b33 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/task/Task.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/task/Task.java
@@ -16,7 +16,7 @@ public interface Task {
     boolean hasNext();
 
     /**
-     * This method is called when the task is registered in the TaskOpMode.
+     * This method is called once when the task starts looping in the TaskOpMode.
      */
     default void init() {
     }