diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentState.java
new file mode 100644
index 0000000..edb7e8c
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentState.java
@@ -0,0 +1,108 @@
+package org.timecrafters.Autonomous.States;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.timecrafters.TeleOp.states.PhoenixBot1;
+
+public class JunctionAllignmentState extends CyberarmState {
+    private final boolean stateDisabled;
+    PhoenixBot1 robot;
+    private double TargetSensorDistance;
+    private final String targetedJunction;
+    private final double drivePower;
+
+    public JunctionAllignmentState(PhoenixBot1 robot, String groupName, String actionName) {
+        this.robot = robot;
+        this.drivePower = robot.configuration.variable(groupName, actionName, "DrivePower").value();
+        this.targetedJunction = robot.configuration.variable(groupName, actionName, "targetedJunction").value();
+        this.stateDisabled = !robot.configuration.action(groupName, actionName).enabled;
+    }
+
+    @Override
+    public void exec() {
+
+        if (stateDisabled){
+            setHasFinished(true);
+        } else {
+
+            double leftDistance = robot.leftPoleDistance.getDistance(DistanceUnit.MM);
+            double rightDistance = robot.rightPoleDistance.getDistance(DistanceUnit.MM);
+
+            switch (targetedJunction) {
+                case "low":
+                    TargetSensorDistance = 90.0;
+                    break;
+                case "mid":
+                    TargetSensorDistance = 135.0;
+                    break;
+                case "high":
+                    TargetSensorDistance = 200.0;
+                    break;
+            }
+                // the state is finished if the distance sensors are at the correct distance.
+                if (leftDistance == TargetSensorDistance && rightDistance == TargetSensorDistance) {
+                    robot.frontLeftDrive.setPower(0);
+                    robot.frontRightDrive.setPower(0);
+                    robot.backLeftDrive.setPower(0);
+                    robot.backRightDrive.setPower(0);
+                    setHasFinished(true);
+                    }
+                // the robot is lined up but needs to drive forward till the robot is at the specified distance
+                else if (leftDistance > TargetSensorDistance && rightDistance > TargetSensorDistance){
+                    robot.frontLeftDrive.setPower(drivePower);
+                    robot.frontRightDrive.setPower(drivePower);
+                    robot.backLeftDrive.setPower(drivePower);
+                    robot.backRightDrive.setPower(drivePower);
+                    }
+                // the robot is lined up but needs to drive backward till the robot is at the specified distance
+                else if (leftDistance < TargetSensorDistance && rightDistance < TargetSensorDistance){
+                    robot.frontLeftDrive.setPower(-drivePower);
+                    robot.frontRightDrive.setPower(-drivePower);
+                    robot.backLeftDrive.setPower(-drivePower);
+                    robot.backRightDrive.setPower(-drivePower);
+                    }
+                // the robot is going to rotate CCW until a distance is met
+                else if (leftDistance > TargetSensorDistance && rightDistance < TargetSensorDistance) {
+                    robot.frontLeftDrive.setPower(-drivePower);
+                    robot.frontRightDrive.setPower(drivePower);
+                    robot.backLeftDrive.setPower(-drivePower);
+                    robot.backRightDrive.setPower(drivePower);
+                    }
+                // the robot is going to rotate CW until a distance is met
+                else if (leftDistance < TargetSensorDistance && rightDistance > TargetSensorDistance) {
+                    robot.frontLeftDrive.setPower(drivePower);
+                    robot.frontRightDrive.setPower(-drivePower);
+                    robot.backLeftDrive.setPower(drivePower);
+                    robot.backRightDrive.setPower(-drivePower);
+                    }
+                // The right sensor is aligned but the robot must rotate rotate CW with only the left side powered
+                else if (leftDistance < TargetSensorDistance && rightDistance == TargetSensorDistance) {
+                    robot.frontLeftDrive.setPower(drivePower);
+                    robot.frontRightDrive.setPower(0);
+                    robot.backLeftDrive.setPower(drivePower);
+                    robot.backRightDrive.setPower(0);
+                    }
+                // The right sensor is aligned but the robot must rotate rotate CCW with only the left side powered
+                else if (leftDistance > TargetSensorDistance && rightDistance == TargetSensorDistance) {
+                    robot.frontLeftDrive.setPower(-drivePower);
+                    robot.frontRightDrive.setPower(0);
+                    robot.backLeftDrive.setPower(-drivePower);
+                    robot.backRightDrive.setPower(0);
+                    }
+                // The left sensor is aligned but the robot must rotate rotate CW with only the right side powered
+                else if (leftDistance == TargetSensorDistance && rightDistance < TargetSensorDistance) {
+                    robot.frontLeftDrive.setPower(0);
+                    robot.frontRightDrive.setPower(-drivePower);
+                    robot.backLeftDrive.setPower(0);
+                    robot.backRightDrive.setPower(-drivePower);
+                    }
+                // The left sensor is aligned but the robot must rotate CCW with only the right side powered
+                else if (leftDistance == TargetSensorDistance && rightDistance > TargetSensorDistance) {
+                    robot.frontLeftDrive.setPower(0);
+                    robot.frontRightDrive.setPower(drivePower);
+                    robot.backLeftDrive.setPower(0);
+                    robot.backRightDrive.setPower(drivePower);
+                    }
+        }
+    }
+}