diff --git a/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/OI.java b/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/OI.java
index 7fa8c43..d320194 100644
--- a/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/OI.java
+++ b/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/OI.java
@@ -23,33 +23,33 @@
  */
 @SuppressWarnings("unused")
 public class OI {
-    //// CREATING BUTTONS
-    // One type of button is a joystick button which is any button on a joystick.
-    // You create one by telling it which joystick it's on and which button
-    // number it is.
-    // Joystick stick = new Joystick(port);
-    // Button button = new JoystickButton(stick, buttonNumber);
-    
-    // There are a few additional built in buttons you can use. Additionally,
-    // by subclassing Button you can create custom triggers and bind those to
-    // commands the same as any other Button.
-    
-    //// TRIGGERING COMMANDS WITH BUTTONS
-    // Once you have a button, it's trivial to bind it to a button in one of
-    // three ways:
-    
-    // Start the command when the button is pressed and let it run the command
-    // until it is finished as determined by it's isFinished method.
-    // button.whenPressed(new ExampleCommand());
-    
-    // Run the command while the button is being held down and interrupt it once
-    // the button is released.
-    // button.whileHeld(new ExampleCommand());
-    
-    // Start the command when the button is released  and let it run the command
-    // until it is finished as determined by it's isFinished method.
+	//// CREATING BUTTONS		
+    // One type of button is a joystick button which is any button on a joystick.		
+    // You create one by telling it which joystick it's on and which button		
+    // number it is.		
+    // Joystick stick = new Joystick(port);		
+    // Button button = new JoystickButton(stick, buttonNumber);		
+    		
+    // There are a few additional built in buttons you can use. Additionally,		
+    // by subclassing Button you can create custom triggers and bind those to		
+    // commands the same as any other Button.		
+    		
+    //// TRIGGERING COMMANDS WITH BUTTONS		
+    // Once you have a button, it's trivial to bind it to a button in one of		
+    // three ways:		
+    		
+    // Start the command when the button is pressed and let it run the command		
+    // until it is finished as determined by it's isFinished method.		
+    // button.whenPressed(new ExampleCommand());		
+    		
+    // Run the command while the button is being held down and interrupt it once		
+    // the button is released.		
+    // button.whileHeld(new ExampleCommand());		
+    		
+    // Start the command when the button is released  and let it run the command		
+    // until it is finished as determined by it's isFinished method.		
     // button.whenReleased(new ExampleCommand());
-
+    
     
     // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
     public Joystick left;
diff --git a/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/Robot.java b/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/Robot.java
index 1ac2cee..cf0e318 100644
--- a/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/Robot.java
+++ b/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/Robot.java
@@ -11,7 +11,9 @@
 
 package org.usfirst.frc2974.PiyushOMatic;
 
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
@@ -33,6 +35,10 @@ public class Robot extends IterativeRobot {
 
     public Command autonomousCommand;
 
+
+    //camera
+    CameraServer server;
+    
     public static OI oi;
     // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
     public static DriveTrain driveTrain;
@@ -61,6 +67,12 @@ public void robotInit() {
         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 //        autonomousCommand = new ForwardForFeet(5);
         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+        
+        //camera
+        server = CameraServer.getInstance();
+        server.setQuality(50);
+        //the camera name (ex "cam0") can be found through the roborio web interface
+        server.startAutomaticCapture("cam0");
     }
 
     /**
@@ -116,4 +128,17 @@ public void teleopPeriodic() {
     public void testPeriodic() {
         LiveWindow.run();
     }
+    
+    
+    /**
+     * start up automatic capture you should see the video stream from the
+     * webcam in your FRC PC Dashboard.
+     */
+    public void operatorControl() {
+
+        while (isOperatorControl() && isEnabled()) {
+            /** robot code here! **/
+            Timer.delay(0.005);		// wait for a motor update time
+        }
+    }
 }
diff --git a/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/autonomous/ForwardForFeet.java b/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/autonomous/ForwardForFeet.java
index fdb1b19..e6af857 100644
--- a/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/autonomous/ForwardForFeet.java
+++ b/PiyushOMatic/src/org/usfirst/frc2974/PiyushOMatic/autonomous/ForwardForFeet.java
@@ -20,14 +20,33 @@ protected void initialize() {
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-		Robot.driveTrain.set(1, 1);
+		//makes the robot end up parallel to it's start position
+		if(!isFinishedLeft())
+		{
+			if(!isFinishedRight())
+				Robot.driveTrain.set(1, 1);
+			else
+				Robot.driveTrain.set(1,0);
+		}
+		else if(!isFinishedRight())
+			Robot.driveTrain.set(0, 1);
+			
 	}
 
 
 
 	// Make this return true when this Command no longer needs to run execute()
 	protected boolean isFinished() {
-		return Robot.driveTrain.getDistanceTravelled()>=feetToTravel*12;
+		return isFinishedLeft() && isFinishedRight();
+	}
+	protected boolean isFinishedLeft()
+	{
+		return Robot.driveTrain.getDistanceTravelledLeft()>=feetToTravel*12;
+	}
+	
+	protected boolean isFinishedRight()
+	{
+		return Robot.driveTrain.getDistanceTravelledRight()>=feetToTravel*12;
 	}
 
 	boolean isDead=false;