diff --git a/src/main/java/frc/robot/vision/LineupMaster.java b/src/main/java/frc/robot/vision/LineupMaster.java
index 756c90f..a0b73a3 100644
--- a/src/main/java/frc/robot/vision/LineupMaster.java
+++ b/src/main/java/frc/robot/vision/LineupMaster.java
@@ -21,6 +21,7 @@
 import frc.crevolib.math.Conversions;
 import frc.robot.drivetrain.CommandSwerveDrivetrain;
 import frc.robot.vision.VisionConfig.ReefFace;
+import frc.robot.vision.commands.AutoAlign;
 import frc.robot.vision.commands.DriveToPoseCommand;
 
 public class LineupMaster {
@@ -55,7 +56,7 @@ public static ReefFace getClosestReefFace(Pose2d robotPose){
     }
 
     public Command directDriveToPose(Pose2d targetPose) {
-        return new DriveToPoseCommand(targetPose);
+        return new AutoAlign(targetPose);
     }
 
     public Command directDriveToNearestLeftBranch() {
diff --git a/src/main/java/frc/robot/vision/commands/AutoAlign.java b/src/main/java/frc/robot/vision/commands/AutoAlign.java
index 4cb8529..002d8f2 100644
--- a/src/main/java/frc/robot/vision/commands/AutoAlign.java
+++ b/src/main/java/frc/robot/vision/commands/AutoAlign.java
@@ -31,8 +31,6 @@ public class AutoAlign extends Command {
     private double x;
     private double y;
     private LinearVelocity kLineupSpeed = MetersPerSecond.of(.1);
-    private PhotonCamera leftCam = new PhotonCamera(CAM_NAMES[0]); 
-    private int tagID;
 
     private static final TrapezoidProfile.Constraints TRANSLATION_CONSTRAINTS = new TrapezoidProfile.Constraints(
                                         VisionConfig.AlignmentConfig.MAX_ALIGN_TRANSLATION_VELOCITY.in(MetersPerSecond),
@@ -64,10 +62,10 @@ public class AutoAlign extends Command {
                                         
                                         
     private static Pose2d currentPose;
-    private static Pose2d targetPose;
+    private final Pose2d targetPose;
     private static boolean commandRan = false;
 
-    public AutoAlign(boolean left) {
+    public AutoAlign(Pose2d targetPose) {
         //set tolerances of all PID controllers
         xDistanceController.setTolerance(VisionConfig.AlignmentConfig.DISTANCE_TOLERANCE.in(Meters));
         xDistanceController.setIntegratorRange(-.15, .15);
@@ -76,7 +74,7 @@ public AutoAlign(boolean left) {
         thetaController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(180));
 
         currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
-        targetPose = getTargetReefPose(left);
+        this.targetPose = targetPose;
 
         xDistanceController.reset(0);
         yDistanceController.reset(0);
@@ -85,187 +83,7 @@ public AutoAlign(boolean left) {
         addRequirements(CommandSwerveDrivetrain.getInstance());
     }
 
-    
-    public double getDistanceFromTag(Pose2d goalPose) {
-        double xDiff = goalPose.getX() - currentPose.getX();
-        double yDiff = goalPose.getY() - currentPose.getY();
-        double distance = Math.sqrt(Math.pow(xDiff, 2) + Math.pow(yDiff, 2));
-        return distance;
-    }
-
-    private Pose2d getTargetReefPose(boolean left){
-        var photonResult = leftCam.getAllUnreadResults();
-        var currAlliance = DriverStation.getAlliance();
-        
-        for (var result : photonResult){
-            if (result.hasTargets()){
-                tagID = result.getBestTarget().fiducialId;
-            }
-        }
-
-        if (currAlliance.get() == Alliance.Blue){
-            // IF(LEFT)
-            // {
-            //     CLOSESTDIST = NULL;
-            //     TARGETPOSE = A;
-            //     TEMPdIST = DISTANCE(CURPOS, TARGETPOSE);
-            //     CLOSESTDIST = TEMPDIST;
-            //     POSE = A
-
-            //     TARGETPOSE = C;
-            //     TEMPdIST = DISTANCE(CURPOS, TARGETPOSE)
-            //     IF(TEMPDIST < CLOSESTDIST)
-            //         POSE = C;
-                
-            // }
-            if (left) {
-                double min = getDistanceFromTag(Ablue);
-                targetPose = Ablue;
-                
-                if (min > getDistanceFromTag(Cblue)){
-                    min = getDistanceFromTag(Cblue);
-                    targetPose = Cblue;
-                } 
-                if (min > getDistanceFromTag(Kblue)) {
-                    min = getDistanceFromTag(Kblue);
-                    targetPose = Kblue;
-                }
-                if (min > getDistanceFromTag(Iblue)) {
-                    min = getDistanceFromTag(Iblue);
-                    targetPose = Iblue;
-                } 
-                if (min > getDistanceFromTag(Gblue)) {
-                    min = getDistanceFromTag(Gblue);
-                    targetPose = Gblue;
-                } 
-                if (min > getDistanceFromTag(Eblue)) {
-                    min = getDistanceFromTag(Eblue);
-                    targetPose = Eblue;
-                }
-            } else {
-                double min = getDistanceFromTag(Bblue);
-                targetPose = Ablue;
-                
-                if (min > getDistanceFromTag(Dblue)){
-                    min = getDistanceFromTag(Dblue);
-                    targetPose = Dblue;
-                } 
-                if (min > getDistanceFromTag(Lblue)) {
-                    min = getDistanceFromTag(Lblue);
-                    targetPose = Lblue;
-                }
-                if (min > getDistanceFromTag(Jblue)) {
-                    min = getDistanceFromTag(Jblue);
-                    targetPose = Jblue;
-                } 
-                if (min > getDistanceFromTag(Hblue)) {
-                    min = getDistanceFromTag(Hblue);
-                    targetPose = Hblue;
-                } 
-                if (min > getDistanceFromTag(Fblue)) {
-                    min = getDistanceFromTag(Fblue);
-                    targetPose = Fblue;
-                }
-            }
 
-            // //DISTANCE FROM 
-            // if (targetPose == Cblue){
-            //     if (left) {
-            //         return Cblue;
-            //     } else if (!left) {
-            //         return Dblue;
-            //     }
-            // } else if (getDistanceFromTag(Ablue) < getDistanceFromTag(Kblue)) {
-            //     if (left) {
-            //         return Ablue;
-            //     } else if (!left) {
-            //         return Bblue;
-            //     }
-            // } else if (getDistanceFromTag(Kblue) < getDistanceFromTag(Iblue)) {
-            //     if (left) {
-            //         return Kblue;
-            //     } else if (!left) {
-            //         return Lblue;
-            //     }
-            // } else if (getDistanceFromTag(Iblue) < getDistanceFromTag(Gblue)) {
-            //     if (left) {
-            //         return Iblue;
-            //     } else if (!left) {
-            //         return Jblue;
-            //     }
-            // } else if (getDistanceFromTag(Gblue) < getDistanceFromTag(Eblue)) {
-            //     if (left) {
-            //         return Gblue;
-            //     } else if (!left) {
-            //         return Hblue;
-            //     }
-            // } else if (getDistanceFromTag(Eblue) < getDistanceFromTag(Cblue)) {
-            //     if (left) {
-            //         return Eblue;
-            //     } else if (!left) {
-            //         return Fblue;
-            //     }
-            // }
-
-        } else if (currAlliance.get() == Alliance.Red){
-            if (left) {
-                double min = getDistanceFromTag(Ared);
-                targetPose = Ared;
-                
-                if (min > getDistanceFromTag(Cred)){
-                    min = getDistanceFromTag(Cred);
-                    targetPose = Cred;
-                } 
-                if (min > getDistanceFromTag(Kred)) {
-                    min = getDistanceFromTag(Kred);
-                    targetPose = Kblue;
-                }
-                if (min > getDistanceFromTag(Ired)) {
-                    min = getDistanceFromTag(Ired);
-                    targetPose = Ired;
-                } 
-                if (min > getDistanceFromTag(Gred)) {
-                    min = getDistanceFromTag(Gred);
-                    targetPose = Gred;
-                } 
-                if (min > getDistanceFromTag(Ered)) {
-                    min = getDistanceFromTag(Ered);
-                    targetPose = Ered;
-                }
-            } else {
-                double min = getDistanceFromTag(Bred);
-                targetPose = Ablue;
-                
-                if (min > getDistanceFromTag(Dred)){
-                    min = getDistanceFromTag(Dred);
-                    targetPose = Dred;
-                } 
-                if (min > getDistanceFromTag(Lred)) {
-                    min = getDistanceFromTag(Lred);
-                    targetPose = Lred;
-                }
-                if (min > getDistanceFromTag(Jred)) {
-                    min = getDistanceFromTag(Jred);
-                    targetPose = Jred;
-                } 
-                if (min > getDistanceFromTag(Hred)) {
-                    min = getDistanceFromTag(Hred);
-                    targetPose = Hred;
-                } 
-                if (min > getDistanceFromTag(Fred)) {
-                    min = getDistanceFromTag(Fred);
-                    targetPose = Fred;
-                }
-            }
-
-        } else if (currAlliance.get() != Alliance.Red && currAlliance.get() != Alliance.Blue){
-            System.out.println("ERROR: There's no such thing as purple alliance");
-        } 
-
-        System.out.println("Error: no suitable target pose found (Lineup Command)");
-        return targetPose;
-
-    }
 
     @Override
     public void execute() {
@@ -306,8 +124,7 @@ public void execute() {
 
     @Override
     public boolean isFinished() {
-        return commandRan;
-        // return xDistanceController.atSetpoint() && yDistanceController.atSetpoint() && thetaController.atSetpoint();
+        return xDistanceController.atSetpoint() && yDistanceController.atSetpoint() && thetaController.atSetpoint();
     }
 
     @Override