diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 488520d..556f170 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -15,16 +15,16 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
-import frc4388.robot.commands.AutoBalance;
-import frc4388.robot.commands.JoystickPlayback;
 import frc4388.robot.subsystems.Arm;
 import frc4388.robot.subsystems.Claw;
 import frc4388.robot.subsystems.Limelight;
 import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.robot.commands.JoystickRecorder;
-import frc4388.robot.commands.LimeAlign;
-import frc4388.robot.commands.PlaybackChooser;
-import frc4388.robot.commands.RotateToAngle;
+import frc4388.robot.commands.Autos.AutoBalance;
+import frc4388.robot.commands.Autos.PlaybackChooser;
+import frc4388.robot.commands.Placement.LimeAlign;
+import frc4388.robot.commands.Swerve.JoystickPlayback;
+import frc4388.robot.commands.Swerve.JoystickRecorder;
+import frc4388.robot.commands.Swerve.RotateToAngle;
 import frc4388.utility.controller.DeadbandedXboxController;
 import frc4388.utility.controller.XboxController; 
 
diff --git a/src/main/java/frc4388/robot/commands/PivotCommand.java b/src/main/java/frc4388/robot/commands/Arm/PivotCommand.java
similarity index 90%
rename from src/main/java/frc4388/robot/commands/PivotCommand.java
rename to src/main/java/frc4388/robot/commands/Arm/PivotCommand.java
index a84690d..279e1b0 100644
--- a/src/main/java/frc4388/robot/commands/PivotCommand.java
+++ b/src/main/java/frc4388/robot/commands/Arm/PivotCommand.java
@@ -2,9 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands;
+package frc4388.robot.commands.Arm;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc4388.robot.commands.PelvicInflammatoryDisease;
 import frc4388.robot.subsystems.Arm;
 
 public class PivotCommand extends PelvicInflammatoryDisease {
diff --git a/src/main/java/frc4388/robot/commands/TeleCommand.java b/src/main/java/frc4388/robot/commands/Arm/TeleCommand.java
similarity index 90%
rename from src/main/java/frc4388/robot/commands/TeleCommand.java
rename to src/main/java/frc4388/robot/commands/Arm/TeleCommand.java
index 02c8c27..356b2d6 100644
--- a/src/main/java/frc4388/robot/commands/TeleCommand.java
+++ b/src/main/java/frc4388/robot/commands/Arm/TeleCommand.java
@@ -2,9 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands;
+package frc4388.robot.commands.Arm;
 
 import frc4388.robot.Constants.ArmConstants;
+import frc4388.robot.commands.PelvicInflammatoryDisease;
 import frc4388.robot.subsystems.Arm;
 
 public class TeleCommand extends PelvicInflammatoryDisease {
diff --git a/src/main/java/frc4388/robot/commands/AutoBalance.java b/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
similarity index 91%
rename from src/main/java/frc4388/robot/commands/AutoBalance.java
rename to src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
index 629c903..4d18c99 100644
--- a/src/main/java/frc4388/robot/commands/AutoBalance.java
+++ b/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
@@ -2,11 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands;
+package frc4388.robot.commands.Autos;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc4388.robot.commands.PelvicInflammatoryDisease;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.utility.RobotGyro;
 
diff --git a/src/main/java/frc4388/robot/commands/Blue1Path.txt b/src/main/java/frc4388/robot/commands/Autos/Blue1Path.txt
similarity index 100%
rename from src/main/java/frc4388/robot/commands/Blue1Path.txt
rename to src/main/java/frc4388/robot/commands/Autos/Blue1Path.txt
diff --git a/src/main/java/frc4388/robot/commands/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
similarity index 97%
rename from src/main/java/frc4388/robot/commands/PlaybackChooser.java
rename to src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
index c2b32e4..2438a38 100644
--- a/src/main/java/frc4388/robot/commands/PlaybackChooser.java
+++ b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
@@ -1,4 +1,4 @@
-package frc4388.robot.commands;
+package frc4388.robot.commands.Autos;
 
 import java.io.File;
 import java.util.ArrayList;
@@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc4388.robot.commands.Swerve.JoystickPlayback;
 import frc4388.robot.subsystems.SwerveDrive;
 
 public class PlaybackChooser {
diff --git a/src/main/java/frc4388/robot/commands/Taxi.txt b/src/main/java/frc4388/robot/commands/Autos/Taxi.txt
similarity index 100%
rename from src/main/java/frc4388/robot/commands/Taxi.txt
rename to src/main/java/frc4388/robot/commands/Autos/Taxi.txt
diff --git a/src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java b/src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java
new file mode 100644
index 0000000..cdac753
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java
@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.Placement;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class DriveToLimeDistance extends CommandBase {
+  /** Creates a new DriveToLimeDistance. */
+  public DriveToLimeDistance() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/LimeAlign.java b/src/main/java/frc4388/robot/commands/Placement/LimeAlign.java
similarity index 92%
rename from src/main/java/frc4388/robot/commands/LimeAlign.java
rename to src/main/java/frc4388/robot/commands/Placement/LimeAlign.java
index c309b4f..f951aca 100644
--- a/src/main/java/frc4388/robot/commands/LimeAlign.java
+++ b/src/main/java/frc4388/robot/commands/Placement/LimeAlign.java
@@ -2,12 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands;
+package frc4388.robot.commands.Placement;
 
 import org.photonvision.targeting.PhotonTrackedTarget;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.commands.PelvicInflammatoryDisease;
 import frc4388.robot.subsystems.Limelight;
 import frc4388.robot.subsystems.SwerveDrive;
 
diff --git a/src/main/java/frc4388/robot/commands/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
similarity index 99%
rename from src/main/java/frc4388/robot/commands/JoystickPlayback.java
rename to src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
index 0f496a9..56e8d43 100644
--- a/src/main/java/frc4388/robot/commands/JoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands;
+package frc4388.robot.commands.Swerve;
 
 import java.io.File;
 import java.io.FileNotFoundException;
diff --git a/src/main/java/frc4388/robot/commands/JoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
similarity index 98%
rename from src/main/java/frc4388/robot/commands/JoystickRecorder.java
rename to src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
index eea72b4..84608cc 100644
--- a/src/main/java/frc4388/robot/commands/JoystickRecorder.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands;
+package frc4388.robot.commands.Swerve;
 
 import java.io.File;
 import java.io.IOException;
diff --git a/src/main/java/frc4388/robot/commands/RotateToAngle.java b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
similarity index 90%
rename from src/main/java/frc4388/robot/commands/RotateToAngle.java
rename to src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
index bf19c1e..8cf630f 100644
--- a/src/main/java/frc4388/robot/commands/RotateToAngle.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
@@ -2,9 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.robot.commands;
+package frc4388.robot.commands.Swerve;
 
 import edu.wpi.first.math.geometry.Translation2d;
+import frc4388.robot.commands.PelvicInflammatoryDisease;
 import frc4388.robot.subsystems.SwerveDrive;
 
 public class RotateToAngle extends PelvicInflammatoryDisease {