diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d459c99..66eedc0 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -164,6 +164,13 @@ public class RobotContainer {
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
           
         // ?  /* Operator Buttons */
+
+        new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
+            .onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
+        
+        new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
+            .onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive)); 
+            // creates an empty command & requires the swerve drive, subsystems can run only 1 command at a time
             
         // ? /* Programer Buttons (Controller 3)*/
 
diff --git a/src/main/java/frc4388/robot/commands/GotoPositionCommand.java b/src/main/java/frc4388/robot/commands/GotoPositionCommand.java
index 42a42c2..edfb97f 100644
--- a/src/main/java/frc4388/robot/commands/GotoPositionCommand.java
+++ b/src/main/java/frc4388/robot/commands/GotoPositionCommand.java
@@ -46,11 +46,17 @@ public class GotoPositionCommand extends Command {
         yPID.initialize();
     }
     
+    double xerr;
+    double yerr;
+    double roterr;
+    double xytolerance = 0.01;
+    double rottolerance = 1;
+
     @Override
     public void execute() {
-        double xerr = targetpos.getX() - vision.getPose2d().getX();
-        double yerr = targetpos.getY() - vision.getPose2d().getY();
-        double roterr = targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees();
+        xerr = targetpos.getX() - vision.getPose2d().getX();
+        yerr = targetpos.getY() - vision.getPose2d().getY();
+        roterr = targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees();
 
         SmartDashboard.putNumber("PID X Error", xerr);
         SmartDashboard.putNumber("PID Y Error", yerr);
@@ -76,6 +82,13 @@ public class GotoPositionCommand extends Command {
 
         swerveDrive.driveWithInput(leftStick, rightStick, true);
     }
+
+    @Override
+    public final boolean isFinished() {
+        return (Math.abs(xerr) < xytolerance && Math.abs(yerr) < xytolerance && Math.abs(roterr) < rottolerance);
+                // this statement is a boolean in and of itself
+    }
+    
     // @Override
     // public void end(boolean interrupted) {