diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d378e65..abcdc20 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -462,8 +462,11 @@ public class RobotContainer {
         // traj.add(new State(0.45710678118654746, 1.0, -4.0, new Pose2d(3.575, -2.3, new Rotation2d(0)), 0.0));
         // traj.add(new State(0.7071067811865475, 0.0, -4.0, new Pose2d(3.7, -2.3, new Rotation2d(0)), 0.0));
         Trajectory traj = TrajectoryGenerator.generateTrajectory(
+            // start at origin facing +X direction
             new Pose2d(0, 0, new Rotation2d(0)),
+            // pass through two interior waypoints
             List.of(new Translation2d(1, 1), new Translation2d(2, -1)), 
+            // end 3 meters straight of initial position, facing forward
             new Pose2d(3, 0, new Rotation2d(0)), 
             config);
         
diff --git a/src/main/java/frc4388/utility/AutoRecording.java b/src/main/java/frc4388/utility/AutoRecording.java
new file mode 100644
index 0000000..24ccb0d
--- /dev/null
+++ b/src/main/java/frc4388/utility/AutoRecording.java
@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* 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.utility;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Transform2d;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class AutoRecording extends CommandBase {
+  /**
+   * Creates a new AutoRecording.
+   */
+  Drive m_drive;
+
+  Pose2d start = new Pose2d();
+  Pose2d prev = new Pose2d();
+  Pose2d curr = new Pose2d();
+
+  boolean isFirst;
+
+  double currentVel = 0;
+  double currentAcc = 0;
+
+  double maxVel = Double.MIN_VALUE;
+  double maxAcc = Double.MIN_VALUE;
+
+  double EPSILON = 1e-5;
+
+  int ctr = 0;
+
+  public AutoRecording(Drive subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    start = m_drive.getPose();
+    isFirst = true;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    prev = isFirst ? start : curr;
+    isFirst = false;
+
+    curr = m_drive.getPose();
+
+    Transform2d diff = new Transform2d(prev, curr);
+
+    if ((Math.abs(diff.getTranslation().getX()) > EPSILON) || (Math.abs(diff.getTranslation().getY()) > EPSILON)) {
+      
+    }
+
+  }
+
+  // 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;
+  }
+}