diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 7c2b0cc..48e6982 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -12,6 +12,7 @@ import java.io.File;
 import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
 
+import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -121,7 +122,7 @@ public class RobotContainer {
 
     private Command RobotShoot = new SequentialCommandGroup(
         // TEST NEW AUTO ALIGN
-        //new AutoAlign(m_robotSwerveDrive, m_vision),
+        new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION,  new Rotation2d(0))),
         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 39164ab..d7c0687 100644
--- a/src/main/java/frc4388/robot/commands/alignment/AutoAlign.java
+++ b/src/main/java/frc4388/robot/commands/alignment/AutoAlign.java
@@ -9,7 +9,6 @@ import frc4388.robot.constants.Constants.AutoConstants;
 import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Vision;
 import frc4388.utility.compute.FieldPositions;
-import frc4388.utility.compute.TimesNegativeOne;
 import frc4388.utility.structs.Gains;
 
 public class AutoAlign extends Command {
@@ -20,16 +19,17 @@ public class AutoAlign extends Command {
     SwerveDrive swerveDrive;
     Vision vision;
 
-    public AutoAlign(SwerveDrive swerveDrive, Vision vision) {
+    public AutoAlign(SwerveDrive swerveDrive, Vision vision, Pose2d targetpos) {
         this.swerveDrive = swerveDrive;
         this.vision = vision;
+        this.targetpos = targetpos;
         addRequirements(swerveDrive);
     }
 
     @Override
     public void initialize() {
         rotPID.initialize();
-        this.targetpos = new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0));
+        //this.targetpos = new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0));
     }