diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index fac6bd7..202f647 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
+import frc4388.robot.commands.DriveAtVelocityPID;
 import frc4388.robot.commands.DriveToDistanceMM;
 import frc4388.robot.commands.DriveToDistancePID;
 import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -83,6 +84,12 @@ public class RobotContainer {
 
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
             .whenPressed(new DriveToDistanceMM(m_robotDrive, 5000));
+
+        new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
+            .whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
+
+        new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
+            .whenPressed(new InstantCommand(null, m_robotDrive));
     }
     
     /**
diff --git a/src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java b/src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
new file mode 100644
index 0000000..70e54dd
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveAtVelocityPID extends CommandBase {
+  Drive m_drive;
+  double m_targetVel;
+  double m_leftTarget;
+  double m_rightTarget;
+  /**
+   * Creates a new DriveAtVelocityPID.
+   */
+  public DriveAtVelocityPID(Drive subsystem, double targetVel) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_targetVel = targetVel;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_leftTarget = m_targetVel;
+    m_rightTarget = -m_targetVel;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_drive.runVelocityPID(m_drive.m_leftFrontMotor, m_leftTarget);
+    m_drive.runVelocityPID(m_drive.m_rightFrontMotor, m_rightTarget);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
index 6c8e1cc..3fe0ea0 100644
--- a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
+++ b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
@@ -7,6 +7,7 @@
 
 package frc4388.robot.commands;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.subsystems.Drive;
 
@@ -31,6 +32,8 @@ public class DriveToDistancePID extends CommandBase {
   public void initialize() {
     m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
     m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
+    SmartDashboard.putNumber("Left Target", m_leftTarget);
+    SmartDashboard.putNumber("Right Target", m_rightTarget);
   }
 
   // Called every time the scheduler runs while the command is scheduled.