Vision sensor and Direction Correction

I am having trouble with the vision sensor and programming it in a way that makes the vex robot autocorrect its angle/direction when it senses a yellow goal within a particular distance. Any suggestions would be greatly appreciated thank you in advanced.

Welcome to Vexforum! It would greatly help if you posted your code and then mentioned specific problems you are having with your implementation. If you are posting text code, be sure to wrap them with the code tags to make them look much nicer.