diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/WristSetMode.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/WristSetMode.java
new file mode 100644
index 0000000..3d54006
--- /dev/null
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/WristSetMode.java
@@ -0,0 +1,47 @@
+package org.usfirst.frc4388.robot.commands;
+
+import org.usfirst.frc4388.robot.Robot;
+import org.usfirst.frc4388.robot.subsystems.Wrist.WristControlMode;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * Description 
+ */
+public class WristSetMode extends Command {
+
+	private WristControlMode controlMode;
+	
+    public WristSetMode(WristControlMode controlMode) {
+    	this.controlMode = controlMode;
+        requires(Robot.wrist);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	if (controlMode == WristControlMode.PID) {
+    		Robot.wrist.setPositionPID(Robot.wrist.getPositionInches());
+    	}
+    	else if (controlMode == WristControlMode.JOYSTICK_MANUAL) {
+    		Robot.wrist.setSpeed(0);
+    	}
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return true;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
index b300670..986c183 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
@@ -154,6 +154,17 @@ public class Wrist extends Subsystem
 		mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN); 
   }
 
+  public double getPositionInches() 
+  {
+		return wristRight.getPositionWorld();
+  }
+  
+  public void setSpeedJoystick(double speed) 
+  {
+		wristRight.set(ControlMode.PercentOutput, speed);
+		setWristControlMode(wristControlMode.JOYSTICK_MANUAL);
+	}
+
   public synchronized boolean isFinished() 
   {
 		return isFinished;