diff --git a/src/main/java/frc4388/robot/commands/RunCommandForTime.java b/src/main/java/frc4388/robot/commands/RunCommandForTime.java
new file mode 100644
index 0000000..0424b30
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/RunCommandForTime.java
@@ -0,0 +1,78 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+
+public class RunCommandForTime extends CommandBase {
+
+  // command
+  Command command;
+
+  // timing
+  long start;
+  long elapsed;
+  double duration;
+
+  // override
+  boolean override;
+
+  /**
+   * Runs given command for given time.
+   * @param command Command to run.
+   * @param duration Time to run for, in seconds.
+   * @param override If true: end command when time ends, even if the command isn't finished. If false: end command when it finished and time has ended.
+   */
+  public RunCommandForTime(Command command, double duration, boolean override) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    this.command = command;
+    this.duration = duration;
+    this.override = override;
+
+    addRequirements(this.command.getRequirements().toArray(Subsystem[]::new));
+  }
+
+  /**
+   * Runs given command for given time.
+   * @param command Command to run.
+   * @param duration Time to run for, in seconds.
+   */
+  public RunCommandForTime(Command command, double duration) {
+    this(command, duration, false);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.start = System.currentTimeMillis();
+    this.command.initialize();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    this.elapsed = System.currentTimeMillis() - this.start;
+    this.command.execute();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    this.command.end(interrupted);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (this.override) {
+      return (((long) this.duration) >= (this.elapsed - this.start));
+    } else {
+      return (this.command.isFinished() && (((long) this.duration) >= (this.elapsed - this.start)));
+    }
+  }
+}