[jmcculloch]

I'm not sure what you are trying to do with the isFinished() method, but as you have it written right now it will never finish, because centerX will always either be >0 or <237, and the method will return false.

Other than that your logic in execute() looks okay, provided the code that runs in the vision thread works. You may consider using PID to turn the robot instead of feeding values directly into arcade drive method. Hope this helps.