diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
index 5fdc9b4..da26c21 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
@@ -910,5 +910,8 @@ public class Drive extends Subsystem implements ControlLoopable
 			}
 			SmartDashboard.putNumber("Update Period (ms)", lastControlLoopUpdatePeriod * 1000.0);
 		}
+	}
+	public void turnToAngle(double targetAngle, double maxError, double maxPrevError, MPSoftwareTurnType turnType) {
+		setRelativeTurnPID(targetAngle - getGyroAngleDeg(), maxError, maxPrevError, turnType);
 	}	
 }
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