diff --git a/src/main/java/frc/robot/commands/PID_Drive_Straight.java b/src/main/java/frc/robot/commands/PID_Drive_Straight.java
new file mode 100644
index 0000000..04ac7e1
--- /dev/null
+++ b/src/main/java/frc/robot/commands/PID_Drive_Straight.java
@@ -0,0 +1,36 @@
+// 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 frc.robot.commands;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import frc.robot.subsystems.Drivetrain;
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class PID_Drive_Straight extends PIDCommand {
+  /** Creates a new PID_Drive_Straight. */
+  public PID_Drive_Straight(double getDistance, Drivetrain drive) {
+    super(
+        // The controller that the command will use
+        new PIDController(0.222,0.222,01)
+        // This should return the measurement
+        () -> 0,
+        // This should return the setpoint (can also be a constant)
+        () -> 0,
+        // This uses the output
+        output -> {
+          // Use the output here
+        });
+    // Use addRequirements() here to declare subsystem dependencies.
+    // Configure additional PID options by calling `getController` here.
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/PID_Turn.java b/src/main/java/frc/robot/commands/PID_Turn.java
new file mode 100644
index 0000000..0a581d6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/PID_Turn.java
@@ -0,0 +1,66 @@
+// 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 frc.robot.commands;
+
+import java.util.function.DoubleConsumer;
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.NAVX;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class PID_Turn extends PIDCommand {
+  /** Creates a new PID_Turn. 
+   * 
+   /      !!!  does this even need to be here?
+   * @param DrivetrainSubsystem */
+
+   //   !!! where does this go?
+   public Rotation2d getHeadingRotation2d;
+
+   private static DoubleSupplier targetAngleDegreesDoubleSupplier;
+
+  public PID_Turn(double targetAngleDegrees, Drivetrain drive, NAVX navx) {
+    super(
+        // these constants have the potential to be dangerously wrong...
+        new PIDController(0.333, 0.3, 0.03),
+        // This should return the measurement
+        //     !!!I already feel that this is wrong... pls help
+        navx::getYaw,
+        // This should return the setpoint (can also be a constant)
+        //    !!!this should turn 90 degrees right, right?
+
+        targetAngleDegrees,
+        // This uses the output
+        output -> drive.mecanumDrive(0, 0, output),
+          // Use the output here
+          drive);
+    // Use addRequirements() here to declare subsystem dependencies.
+    // Configure additional PID options by calling `getController` here.
+
+    getController().enableContinuousInput(-180, 180);
+
+    //      !!!i dont really know how to do this... 
+    //      !!!does that seem like a reasonable tolerance? should I put it in constants?
+    getController().setTolerance(1);
+
+  }
+
+  private static DoubleSupplier targetAngleDegrees(int i) {
+    return null;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return getController().atSetpoint();
+  }
+}