diff --git a/vision/GoalMaster.cpp b/vision/GoalMaster.cpp
new file mode 100644
index 0000000..9557072
--- /dev/null
+++ b/vision/GoalMaster.cpp
@@ -0,0 +1,34 @@
+#include "aos/aos_core.h"
+#include "math.h"
+
+#include "frc971/queues/GyroAngle.q.h"
+#include "frc971/queues/CameraTarget.q.h"
+#include "aos/common/time.h"
+#include "vision/RingBuffer.h"
+
+using frc971::vision::RingBuffer;
+using frc971::sensors::gyro;
+using frc971::vision::targets;
+using frc971::vision::target_angle;
+
+int main(){
+	RingBuffer< ::aos::time::Time,double> buff;
+	::aos::Init();
+	while (true) {
+    gyro.FetchNextBlocking();
+		buff.Sample(gyro->sent_time, gyro->angle);
+    if(targets.FetchNext()){
+      const frc971::vision::CameraTarget *goal = targets.get();
+			::aos::time::Time stamp = ::aos::time::Time::InNS(goal->timestamp);
+			double angle_goal = 
+				buff.ValueAt(stamp) - M_PI * goal->percent_azimuth_off_center / 4;
+			printf("%g ",angle_goal);
+      printf("%g\n",gyro->angle);
+			
+     target_angle.MakeWithBuilder()
+      .target_angle(angle_goal).Send();
+    }
+  }
+	::aos::Cleanup();
+}
+