diff --git a/.gradle/5.0/fileChanges/last-build.bin b/.gradle/5.0/fileChanges/last-build.bin
new file mode 100644
index 0000000..f76dd23
Binary files /dev/null and b/.gradle/5.0/fileChanges/last-build.bin differ
diff --git a/.gradle/5.0/fileHashes/fileHashes.lock b/.gradle/5.0/fileHashes/fileHashes.lock
new file mode 100644
index 0000000..59d89bb
Binary files /dev/null and b/.gradle/5.0/fileHashes/fileHashes.lock differ
diff --git a/.gradle/5.0/gc.properties b/.gradle/5.0/gc.properties
new file mode 100644
index 0000000..e69de29
diff --git a/.gradle/5.0/taskHistory/taskHistory.bin b/.gradle/5.0/taskHistory/taskHistory.bin
new file mode 100644
index 0000000..c40e8de
Binary files /dev/null and b/.gradle/5.0/taskHistory/taskHistory.bin differ
diff --git a/.gradle/5.0/taskHistory/taskHistory.lock b/.gradle/5.0/taskHistory/taskHistory.lock
new file mode 100644
index 0000000..ac5c713
Binary files /dev/null and b/.gradle/5.0/taskHistory/taskHistory.lock differ
diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
new file mode 100644
index 0000000..10b54f3
Binary files /dev/null and b/.gradle/buildOutputCleanup/buildOutputCleanup.lock differ
diff --git a/.gradle/buildOutputCleanup/cache.properties b/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 0000000..0d6be3d
--- /dev/null
+++ b/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Fri Jan 18 19:42:27 MST 2019
+gradle.version=5.0
diff --git a/.gradle/vcs-1/gc.properties b/.gradle/vcs-1/gc.properties
new file mode 100644
index 0000000..e69de29
diff --git a/2019robot/build.gradle b/2019robot/build.gradle
index f15e84c..01830a7 100644
--- a/2019robot/build.gradle
+++ b/2019robot/build.gradle
@@ -50,7 +50,7 @@ dependencies {
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
     testCompile 'junit:junit:4.12'
-    compile pathfinder()
+    //compile pathfinder()
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/VisionAlign.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/VisionAlign.java
new file mode 100644
index 0000000..1cf201d
--- /dev/null
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/VisionAlign.java
@@ -0,0 +1,41 @@
+package main.java.org.usfirst.frc4388.robot.commands;
+
+public class VisionAlign extends Command{
+
+    protected int target_x;
+    protected int target_y;
+    protected float targetHeight;
+    protected float armProtrusion;
+    private int targetSelect;
+
+    public VisionAlign(String targetCoordinates, int positionSelect){ //activate on button press
+        //add requires for drive, arm, end effector
+        target_x = Integer.parseInt(targetCoordinates.substring(0, 3)); //x coordinate of target in pixels from lower left corner
+        target_y = Integer.parseInt(targetCoordinates.substirng(3)); //y coordinate of target in pixels from lower left corner
+        targetSelect = positionSelect; //selector value for init
+        
+    }
+
+    protected void Initialize(){
+        if(targetSelect == 1){}//target height set to lowest rocket bay, set arm protrusion
+        else if (positionselect == 2){}//middle rocket bay, set arm protrusion
+        else if (positionselect == 3){}//top rocket bay, set arm protrusion
+        else if (positionselect == 4){}//rover bay, set arm protrusion
+        else{ end(); }
+         //check front clearance then move arm to position if safe, else move back then move arm.
+         //move robot forward to [frontClearance-armProtrusion], release hatch, move back and end
+        
+    }
+    protected void execute(){
+
+    }
+    protected boolean isFinished(){
+        
+    }
+    protected void end(){ //Return control to drivers
+        
+    }
+    protected void interrupted(){
+        end();
+    }
+}
\ No newline at end of file