diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 48e6982..e0f4b06 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -103,16 +103,19 @@ public class RobotContainer {
         // Right now this will just go to the closest ball constantly updating - need to make it so it locks on one ball
         RobotIntakeDown,
         new WaitCommand(1),
-        new RunCommand(
-        () -> m_robotSwerveDrive.driveWithInput(
-                m_lidar.getClosestBall(),
-                new Translation2d(m_lidar.getLatestBallAngle().getCos() * 0.1, 0),
-                false
-            ),
-            m_robotSwerveDrive
-        )
-        .withTimeout(5.0)
-        .andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive))
+        new InstantCommand(() -> System.out.println("Closest Ball: " + m_lidar.getClosestBall())),
+        new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(m_lidar.getClosestBall(), new Rotation2d(0)), true)
+
+        // new RunCommand(
+        // () -> m_robotSwerveDrive.driveWithInput(
+        //         m_lidar.getClosestBall(),
+        //         new Translation2d(m_lidar.getLatestBallAngle().getCos() * 0.1, 0),
+        //         false
+        //     ),
+        //     m_robotSwerveDrive
+        // )
+        // .withTimeout(5.0)
+        // .andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive))
     );
 
     private Command RobotReadyToShoot = new SequentialCommandGroup(
@@ -122,7 +125,7 @@ public class RobotContainer {
 
     private Command RobotShoot = new SequentialCommandGroup(
         // TEST NEW AUTO ALIGN
-        new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION,  new Rotation2d(0))),
+        new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION,  new Rotation2d(0)), false),
         new InstantCommand(()-> m_robotShooter.setShooterShoot(), m_robotShooter),
         new InstantCommand(()-> m_robotShooter.setShooterReady(), m_robotShooter),
         new WaitCommand(3),
diff --git a/src/main/java/frc4388/robot/commands/alignment/AutoAlign.java b/src/main/java/frc4388/robot/commands/alignment/AutoAlign.java
index d7c0687..79334f6 100644
--- a/src/main/java/frc4388/robot/commands/alignment/AutoAlign.java
+++ b/src/main/java/frc4388/robot/commands/alignment/AutoAlign.java
@@ -15,14 +15,15 @@ public class AutoAlign extends Command {
 
     private PID rotPID = new PID(AutoConstants.ROT_GAINS, 0);
     private Pose2d targetpos;
-
+    private boolean isLidar;
     SwerveDrive swerveDrive;
     Vision vision;
 
-    public AutoAlign(SwerveDrive swerveDrive, Vision vision, Pose2d targetpos) {
+    public AutoAlign(SwerveDrive swerveDrive, Vision vision, Pose2d targetpos, boolean isLidar) {
         this.swerveDrive = swerveDrive;
         this.vision = vision;
         this.targetpos = targetpos;
+        this.isLidar = isLidar;
         addRequirements(swerveDrive);
     }
 
@@ -39,8 +40,6 @@ public class AutoAlign extends Command {
 
     @Override
     public void execute() {
-
-
         Pose2d robotPose = vision.getPose2d();
         if (robotPose == null) return;
 
@@ -54,9 +53,9 @@ public class AutoAlign extends Command {
         if (roterr < -180) roterr += 360;
 
         SmartDashboard.putNumber("PID Rot Error", roterr);
-
+        System.out.println("Target: " + targetpos + "Heading: " + desiredHeading + "Error: " + roterr);
         swerveDrive.driveRelativeAngle(new Translation2d(0.0, 0.0), desiredHeading);
-     }
+    }
 
     @Override
     public final boolean isFinished() {
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 3b38cbf..77101ba 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 87;
-  public static final String GIT_SHA = "34a7ed050d2967603ebf12cd0bad0b7264aeae01";
-  public static final String GIT_DATE = "2026-02-24 17:49:26 MST";
+  public static final int GIT_REVISION = 91;
+  public static final String GIT_SHA = "b3b32b00fed827f8efe77d0f6710d36222a209ac";
+  public static final String GIT_DATE = "2026-02-25 17:17:52 MST";
   public static final String GIT_BRANCH = "AutoTesting";
-  public static final String BUILD_DATE = "2026-02-24 18:48:38 MST";
-  public static final long BUILD_UNIX_TIME = 1771984118729L;
+  public static final String BUILD_DATE = "2026-02-25 17:44:49 MST";
+  public static final long BUILD_UNIX_TIME = 1772066689466L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}