diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveSetAngle.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveSetAngle.java
new file mode 100644
index 0000000..2b4db9a
--- /dev/null
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveSetAngle.java
@@ -0,0 +1,24 @@
+package org.usfirst.frc4388.robot.commands;
+
+import org.usfirst.frc4388.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
+
+public class DriveSetAngle extends Command {
+    
+    private double targetAngle;
+    private double maxError;
+    private double maxPrevError;
+    private MPSoftwareTurnType turnType;
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	turnToAngle(targetAngle, maxError, maxPrevError, turnType);
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return true;
+    }
+}