diff --git a/src/main/java/competition/subsystems/drive/commands/AlignToNearestReefFaceForAlgaeCommand.java b/src/main/java/competition/subsystems/drive/commands/AlignToNearestReefFaceForAlgaeCommand.java
index e78e9d35..ed8a212b 100644
--- a/src/main/java/competition/subsystems/drive/commands/AlignToNearestReefFaceForAlgaeCommand.java
+++ b/src/main/java/competition/subsystems/drive/commands/AlignToNearestReefFaceForAlgaeCommand.java
@@ -8,6 +8,9 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.units.measure.Angle;
 import xbot.common.command.BaseCommand;
+import xbot.common.math.MathUtils;
+import xbot.common.math.PIDDefaults;
+import xbot.common.math.PIDManager;
 import xbot.common.math.XYPair;
 import xbot.common.subsystems.drive.control_logic.HeadingModule;
 
@@ -28,16 +31,53 @@ public class AlignToNearestReefFaceForAlgaeCommand extends BaseCommand {
     Translation2d idealFinalPosition;
     Angle idealFinalHeading;
 
+    private final PIDManager driveToAlgaePidManager;
+    private final PIDManager snapToAlgaePIDManager;
+
     @Inject
     public AlignToNearestReefFaceForAlgaeCommand(HeadingModule.HeadingModuleFactory headingModuleFactory,
                                                  DriveSubsystem drive, PoseSubsystem pose,
-                                                 AprilTagVisionSubsystemExtended vision, OperatorInterface oi) {
-        this.headingModule = headingModuleFactory.create(drive.getRotateToHeadingPid());
+                                                 AprilTagVisionSubsystemExtended vision, OperatorInterface oi,
+                                                 PIDManager.PIDManagerFactory pidFactory) {
         this.vision = vision;
         this.drive = drive;
         this.pose = pose;
         this.oi = oi;
         this.addRequirements(drive);
+
+        driveToAlgaePidManager = pidFactory.create(
+                this.getPrefix() + "DriveToAlgaePositionalPID",
+                new PIDDefaults(
+                        0.75, // P
+                        0, // I
+                        4.0, // D
+                        0.0, // F
+                        0.6, // Max output
+                        -0.6, // Min output
+                        0.05, // Error threshold
+                        0.005, // Derivative threshold
+                        0.2) // Time threshold
+        );
+        driveToAlgaePidManager.setEnableErrorThreshold(true);
+        driveToAlgaePidManager.setEnableTimeThreshold(true);
+
+        snapToAlgaePIDManager = pidFactory.create(
+                this.getPrefix() + "SnapToAlgaeHeadingPID",
+                new PIDDefaults(
+                        0.005, // P
+                        0, // I
+                        0, // D
+                        0.0, // F
+                        0.75, // Max output
+                        -0.75, // Min output
+                        2.0, // Error threshold
+                        0.2, // Derivative threshold
+                        0.2) // Time threshold
+        );
+        snapToAlgaePIDManager.setEnableErrorThreshold(true);
+        snapToAlgaePIDManager.setEnableTimeThreshold(true);
+
+        this.headingModule = headingModuleFactory.create(snapToAlgaePIDManager);
     }
 
     @Override
@@ -60,12 +100,15 @@ public void execute() {
 
         // Everything below here can and will be extracted because it is repeated code with
         // DriveWithSnapToReefTagCommand
-        var centeringTranslation2d = drive.getPowerForRelativePositionChange(new Translation2d(0, robotRelativeTagLocationY));
+        var centeringTranslation2d = getPowerForRelativePositionChange(new Translation2d(0, robotRelativeTagLocationY));
         XYPair centeringVector = new XYPair(centeringTranslation2d.getX(), centeringTranslation2d.getY());
         centeringVector = centeringVector.rotate(pose.getCurrentHeading().getDegrees());
 
         var fieldVectorTranslation2d = oi.driverGamepad.getLeftFieldOrientedVector();
-        XYPair fieldVectorXYPair = new XYPair(fieldVectorTranslation2d.getX(), fieldVectorTranslation2d.getY());
+        XYPair fieldVectorXYPair = new XYPair(
+                MathUtils.deadband(fieldVectorTranslation2d.getX(), 0.05),
+                MathUtils.deadband(fieldVectorTranslation2d.getY(), 0.05)
+        );
         double railsSimilarityToDriver = fieldVectorXYPair.dotProduct(
                 new XYPair(
                         Math.cos(idealFinalHeading.in(Radians) + Math.PI),
@@ -84,4 +127,17 @@ public void execute() {
                 new XYPair()
         );
     }
+
+    public Translation2d getPowerForRelativePositionChange(Translation2d goalPosition) {
+        double goalMagnitude = goalPosition.getNorm();
+
+        if (Math.abs(goalMagnitude) <  0.0001) {
+            goalMagnitude = 0.0001;
+        }
+        Translation2d normalizedGoalVector = goalPosition.div(goalMagnitude);
+
+        double power = -driveToAlgaePidManager.calculate(0, goalMagnitude);
+
+        return normalizedGoalVector.times(power);
+    }
 }
\ No newline at end of file