diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 55bbf1f..c6deaeb 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -451,10 +451,16 @@ public class RobotContainer {
     //                                                       new InstantCommand(() -> m_robotSwerveDrive.setModuleRotationsToAngle(0.0), m_robotSwerveDrive), 
     //                                                       "Diamond"));
 
+    // * assume turret is already pointed towards target.
     return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
                                        new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.5, 0.5, 0.0, 0.0}, 1.0),
-                                       new RotateUntilTarget(m_robotSwerveDrive, m_robotVisionOdometry, 0.5),
                                        new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
+
+    // * aim with RotateUntilTarget
+    // return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
+    //                                    new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.5, 0.5, 0.0, 0.0}, 1.0),
+    //                                    new RotateUntilTarget(m_robotSwerveDrive, m_robotVisionOdometry, 0.5),
+    //                                    new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
   }
 
   public static XboxController getDriverController() {
diff --git a/src/main/java/frc4388/robot/commands/DriveCommands/RotateUntilTarget.java b/src/main/java/frc4388/robot/commands/DriveCommands/RotateUntilTarget.java
index 76ec283..c7e0149 100644
--- a/src/main/java/frc4388/robot/commands/DriveCommands/RotateUntilTarget.java
+++ b/src/main/java/frc4388/robot/commands/DriveCommands/RotateUntilTarget.java
@@ -4,9 +4,12 @@
 
 package frc4388.robot.commands.DriveCommands;
 
+import javax.swing.plaf.basic.BasicTreeUI.TreeCancelEditingAction;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.robot.subsystems.VisionOdometry;
+import frc4388.utility.VisionObscuredException;
 
 public class RotateUntilTarget extends CommandBase {
 
@@ -47,6 +50,10 @@ public class RotateUntilTarget extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return this.visionOdometry.m_camera.getLatestResult().hasTargets();
+
+    try { this.visionOdometry.getTargetPoints(); } catch (VisionObscuredException voe) { return false; }
+
+    return true;
+    // return this.visionOdometry.m_camera.getLatestResult().hasTargets();
   }
 }