diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java
index 0a96fbe..47c920c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java
@@ -246,6 +246,9 @@ public class AutoBlueTwoPlusTwo extends LinearOpMode {
 
         this.telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
         this.robot = new Robot().init(hardwareMap);
+        while(!this.robot.getCamera().isReady()) {
+            sleep(20);
+        }
 //        this.robot.getCamera().setAlliance(Alliance.Blue);
 //        this.robot.getCamera().initTargetingCamera();
         this.initialPosition = new Pose2d(-34, -59.5, Math.toRadians(270));
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java
index 2fa6dcc..568976a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java
@@ -117,4 +117,8 @@ public class Camera {
         }
         return this.aprilTagPoseEstimator.estimatePose(detection);
     }
+
+    public boolean isReady() {
+        return this.propPortal.getCameraState() == VisionPortal.CameraState.CAMERA_DEVICE_READY;
+    }
 }
\ No newline at end of file