diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2e159df..9e4f64d 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -19,6 +19,7 @@ import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveStraightToPositionMM;
 import frc4388.robot.commands.DriveStraightToPositionPID;
 import frc4388.robot.commands.DriveWithJoystick;
+import frc4388.robot.commands.DriveWithJoystickAuxPID;
 import frc4388.robot.commands.RunIntakeWithTriggers;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
@@ -73,6 +74,9 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
             .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
             .whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+        
+        new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
+            .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
         // resets the yaw of the pigeon
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
             .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
diff --git a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
deleted file mode 100644
index 625e522..0000000
--- a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
+++ /dev/null
@@ -1,60 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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.Constants.DriveConstants;
-import frc4388.robot.subsystems.Drive;
-
-public class DriveToDistanceMM extends CommandBase {
-  Drive m_drive;
-  double m_distance;
-  double m_leftTarget;
-  double m_rightTarget;
-  
-  /**
-   * Creates a new DriveToDistancePID.
-   * @param subsystem drive subsystem
-   * @param distance distance to travel in inches
-   */
-  public DriveToDistanceMM(Drive subsystem, double distance) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    m_drive = subsystem;
-    m_distance = distance * DriveConstants.TICKS_PER_INCH;
-    addRequirements(m_drive);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
-    m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    //m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
-    //m_drive.runMotionMagicPID(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() {
-    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
-      return true;
-    } else {
-      return false;
-    }
-  }
-}
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystickAuxPID.java b/src/main/java/frc4388/robot/commands/DriveWithJoystickAuxPID.java
new file mode 100644
index 0000000..2531847
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickAuxPID.java
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* 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 com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickAuxPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+
+  /**
+   * Creates a new DriveWithJoystickAuxPID.
+   */
+  public DriveWithJoystickAuxPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+    if (moveInput >= 0){
+      moveOutput = -Math.cos(1.571*moveInput)+1;
+    } else {
+      moveOutput = Math.cos(1.571*moveInput)-1;
+    }
+
+    m_targetGyro += 2 * steerInput * deltaTime;
+
+    m_targetGyro = MathUtil.clamp(m_targetGyro, 
+                                  currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                  currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+
+    m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+
+    System.err.println("Target: " + m_targetGyro);
+    System.err.println("Current: " + currentGyro);
+    System.err.println();
+  }
+
+  // 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/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 2f4c2e0..e629ab8 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -330,6 +330,15 @@ public class Drive extends SubsystemBase {
     m_driveTrain.arcadeDrive(move, steer);
   }
 
+  public void driveWithInputAux(double move, double targetGyro) {
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
+
+    m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro);
+    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
+
+    m_driveTrain.feedWatchdog();
+  }
+
   /**
    * Runs a position PID while driving straight
    * @param targetPos The position to drive to in units