diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java
new file mode 100644
index 0000000..1840ed3
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java
@@ -0,0 +1,39 @@
+package org.usfirst.frc.team2059.robot.commands.autonomous;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
+public class AutoDrive extends CommandBase {
+   private double distance;
+   // Determines if we should start driving
+   // Will be false if we already started driving
+   private boolean startDriving = true;
+   public AutoDrive(double distance, double timeout) {
+      requires(driveBase);
+      this.distance = distance;
+      setTimeout(timeout);
+   }
+   public AutoDrive(double distance) {
+      requires(driveBase);
+      this.distance = distance;
+      // Make the default timeout 2s
+      setTimeout(2.0d);
+   }
+   protected void initialize() {
+   }
+   protected void execute() {
+      if (startDriving) {
+         driveBase.pidDrive(distance);
+      }
+      startDriving = false;
+   }
+   protected void end() {
+      startDriving = true;
+      driveBase.stopDriving();
+   }
+   protected void interrupted() {
+      end();
+   }
+   protected boolean isFinished() {
+      return isTimedOut();
+   }
+}
+// vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
index bc48b40..616ee83 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -16,6 +16,12 @@ public class DriveBase extends Subsystem {
   public void initDefaultCommand() {
     setDefaultCommand(new Drive());
   }
+  public void stopDriving() {
+    leftMotorOne.set(0);
+    leftMotorTwo.set(0);
+    rightMotorOne.set(0);
+    rightMotorTwo.set(0);
+  }
   public void driveArcade(double x, double y, double z, double sensitivity) {
     leftMotorOne.set(-y + (x + z));
     leftMotorTwo.set(-y + (x + z));