diff --git a/src/org/usfirst/frc/team4737/robot/Robot.java b/src/org/usfirst/frc/team4737/robot/Robot.java
index 980f151..f44e0da 100644
--- a/src/org/usfirst/frc/team4737/robot/Robot.java
+++ b/src/org/usfirst/frc/team4737/robot/Robot.java
@@ -33,7 +33,8 @@ public class Robot extends TimedRobot {
 	public static final Elevator ELEVATOR = new Elevator();
 	public static final Intake INTAKE = new Intake();
 	public static final Climber CLIMBER = new Climber();
-	public static final OI OI = new OI();
+	
+	public static final OI OI = new OI(); // Must initialize after subsystems
 
 	private Command autonomousCommand;
 	private SendableChooser<Command> chooser = new SendableChooser<>();
diff --git a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindAccelerate.java b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindAccelerate.java
new file mode 100644
index 0000000..044d6c6
--- /dev/null
+++ b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindAccelerate.java
@@ -0,0 +1,69 @@
+package org.usfirst.frc.team4737.robot.commands.drivetrain;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class AutoBlindAccelerate extends Command {
+
+	private double percentPerSecond;
+	private double startPercent;
+	private double targetPercent;
+	
+	private boolean startLow;
+	
+	private double lastTime;
+	private double percent;
+	
+    public AutoBlindAccelerate(double percentPerSecond, double startPercent, double targetPercent) {
+        requires(Robot.DRIVETRAIN);
+        this.percentPerSecond = percentPerSecond;
+        this.startPercent = startPercent;
+        this.targetPercent = targetPercent;
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	lastTime = 0;
+    	percent = startPercent;
+    	startLow = startPercent < targetPercent;
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	double time = this.timeSinceInitialized();
+    	double delta = time - lastTime;
+    	lastTime = time;
+    	
+    	// Adjust speed
+    	if (startLow) percent += percentPerSecond * delta;
+    	else percent -= percentPerSecond * delta; 
+    	
+    	// Check bounds
+    	if (startLow && percent > targetPercent) percent = targetPercent;
+    	if (!startLow && percent < targetPercent) percent = targetPercent;
+    	if (percent < -1) percent = -1;
+    	if (percent > 1) percent = 1;
+    	
+    	// Apply speed
+    	Robot.DRIVETRAIN.arcadeDrive(percent, 0);
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+    	return percent == targetPercent;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+    
+}
diff --git a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java
index ae9e3c4..bb36bc4 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java
@@ -1,43 +1,35 @@
 package org.usfirst.frc.team4737.robot.commands.drivetrain;
 
-import org.usfirst.frc.team4737.robot.Robot;
 import org.usfirst.frc.team4737.robot.RobotMap;
 
-import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
  *
  */
-public class AutoBlindBaseline extends Command {
-
-	public AutoBlindBaseline() {
-		requires(Robot.DRIVETRAIN);
-	}
-
-	// Called just before this Command runs the first time
-	protected void initialize() {
-		Robot.DRIVETRAIN.setBrakeMode();
-	}
-
-	// Called repeatedly when this Command is scheduled to run
-	protected void execute() {
-		Robot.DRIVETRAIN.arcadeDrive(RobotMap.AUTO_BLIND_SPEED, 0);
-	}
-
-	// Make this return true when this Command no longer needs to run execute()
-	protected boolean isFinished() {
-		return this.timeSinceInitialized() > RobotMap.AUTO_BLIND_TIME;
-	}
-
-	// Called once after isFinished returns true
-	protected void end() {
-		Robot.DRIVETRAIN.arcadeDrive(0, 0);
-	}
-
-	// Called when another command which requires one or more of the same
-	// subsystems is scheduled to run
-	protected void interrupted() {
-		this.end();
-	}
-
+public class AutoBlindBaseline extends CommandGroup {
+
+    public AutoBlindBaseline() {
+        // Add Commands here:
+        // e.g. addSequential(new Command1());
+        //      addSequential(new Command2());
+        // these will run in order.
+
+        // To run multiple commands at the same time,
+        // use addParallel()
+        // e.g. addParallel(new Command1());
+        //      addSequential(new Command2());
+        // Command1 and Command2 will run in parallel.
+
+        // A command group will require all of the subsystems that each member
+        // would require.
+        // e.g. if Command1 requires chassis, and Command2 requires arm,
+        // a CommandGroup containing them would require both the chassis and the
+        // arm.
+    	
+    	addSequential(new AutoBlindAccelerate(0.1, 0, RobotMap.AUTO_BLIND_SPEED));
+    	addSequential(new AutoBlindDrive(RobotMap.AUTO_BLIND_TIME, RobotMap.AUTO_BLIND_SPEED));
+    	addSequential(new AutoBlindAccelerate(0.1, RobotMap.AUTO_BLIND_SPEED, 0));
+    }
+    
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindDrive.java b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindDrive.java
new file mode 100644
index 0000000..fc741dd
--- /dev/null
+++ b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindDrive.java
@@ -0,0 +1,39 @@
+package org.usfirst.frc.team4737.robot.commands.drivetrain;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.TimedCommand;
+
+/**
+ *
+ */
+public class AutoBlindDrive extends TimedCommand {
+
+	private double percent;
+	
+    public AutoBlindDrive(double time, double percent) {
+    	super(time);
+        requires(Robot.DRIVETRAIN);
+        
+        this.percent = percent;
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	Robot.DRIVETRAIN.arcadeDrive(percent, 0);
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+    
+}