diff --git a/src/main/java/frc4388/robot/commands/LidarAlign.java b/src/main/java/frc4388/robot/commands/LidarAlign.java
new file mode 100644
index 0000000..dfe3d34
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+++ b/src/main/java/frc4388/robot/commands/LidarAlign.java
@@ -0,0 +1,57 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.Lidar;
+import frc4388.robot.subsystems.SwerveDrive;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class LidarAlign extends Command {
+  private SwerveDrive swerveDrive;
+  private Lidar lidar;  
+
+  private int currentFinderTick;
+  // private int tickFoundPipe;
+  private boolean foundReef;
+  private boolean headedRight;
+  private final boolean constructedHeadedRight;
+
+  /** Creates a new LidarAlign. */
+  public LidarAlign(SwerveDrive swerveDrive, Lidar lidar, boolean headedRight) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    constructedHeadedRight = headedRight;
+
+    this.swerveDrive = swerveDrive;
+    this.lidar = lidar;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.currentFinderTick = 0;
+    this.foundReef = false;
+    this.headedRight = constructedHeadedRight;
+  }
+
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double speed = 0.05; // TODO: find good speed for this
+    double relAngle = Math.round(swerveDrive.getGyroAngle() / 60.d) * 60; // Relative driving to the side of the reef
+    
+  }
+
+  // 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;
+  }
+}