diff --git a/src/main/java/frc/robot/vision/VisionConfig.java b/src/main/java/frc/robot/vision/VisionConfig.java
index 8772663..fbf0007 100644
--- a/src/main/java/frc/robot/vision/VisionConfig.java
+++ b/src/main/java/frc/robot/vision/VisionConfig.java
@@ -325,12 +325,37 @@ public class AlignmentConfig {
         // public static final Distance LATERAL_TARGET_L4_LEFT = Meters.of(0.05);
         // public static final Distance LATERAL_TARGET_L4_RIGHT = Meters.of(0.02);
 
+        //April Tag IDs
+        public static final double id1 = 1;
+        public static final double id2 = 2;
+        public static final double id3 = 3;
+        public static final double id4 = 4;
+        public static final double id5 = 5;
+        public static final double id6 = 6;
+        public static final double id7 = 7;
+        public static final double id8 = 8;
+        public static final double id9 = 9;
+        public static final double id10 = 10;
+        public static final double id11 = 11;
+        public static final double id12 = 12;
+        public static final double id13 = 13;
+        public static final double id14 = 14;
+        public static final double id15 = 15;
+        public static final double id16 = 16;
+        public static final double id17 = 17;
+        public static final double id18 = 18;
+        public static final double id19 = 19;
+        public static final double id20 = 20;
+        public static final double id21 = 21;
+        public static final double id22 = 22;
+
+
 
 
         //Joey's Pose Constants for the Reef Locations
         public static final Pose2d Error = new Pose2d(6, 6, Rotation2d.fromDegrees(0));
 
-        public static final Pose2d Ablue = new Pose2d(3.180, 4.175, Rotation2d.fromDegrees(0));
+        public static final Pose2d Ablue = new Pose2d(3.180, 4.175, Rotation2d.fromDegrees(0)); 
         public static final Pose2d Bblue = new Pose2d(3.180, 3.850, Rotation2d.fromDegrees(0));
         public static final Pose2d Cblue = new Pose2d(3.685, 2.975, Rotation2d.fromDegrees(60));
         public static final Pose2d Dblue = new Pose2d(3.975, 2.825, Rotation2d.fromDegrees(60));
diff --git a/src/main/java/frc/robot/vision/commands/LineupCommand.java b/src/main/java/frc/robot/vision/commands/LineupCommand.java
index 183b537..df17f41 100644
--- a/src/main/java/frc/robot/vision/commands/LineupCommand.java
+++ b/src/main/java/frc/robot/vision/commands/LineupCommand.java
@@ -25,6 +25,7 @@
 import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.vision.VisionConfig;
@@ -103,11 +104,11 @@ public void initialize() {
     @Override
     public void execute() {
         currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
-        ChassisSpeeds currentSpeeds = CommandSwerveDrivetrain.getInstance().getState().Speeds;
+        // ChassisSpeeds currentSpeeds = CommandSwerveDrivetrain.getInstance().getState().Speeds;
         x = currentPose.getTranslation().getX();
         y = currentPose.getTranslation().getY();
-        double Xvel = currentSpeeds.vxMetersPerSecond;
-        double Yvel = currentSpeeds.vyMetersPerSecond;
+        // double Xvel = currentSpeeds.vxMetersPerSecond;
+        // double Yvel = currentSpeeds.vyMetersPerSecond;
         double XOutput = 0.15 * kLineupSpeed.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(x, targetPose.getX());
         double YOutput = 0.15 * kLineupSpeed.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(y, targetPose.getY());
         double thetaOutput = 0.15 * RotationsPerSecond.of(0.75).in(RadiansPerSecond) * thetaController.calculate(currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians());
@@ -127,6 +128,8 @@ public void execute() {
             ).execute();
         }
 
+        SmartDashboard.putString("Target Pose X", targetPose.toString());
+
     }