diff --git a/RELENTLESS/include/superstructure.hpp b/RELENTLESS/include/superstructure.hpp
index ac39379..6d777c0 100644
--- a/RELENTLESS/include/superstructure.hpp
+++ b/RELENTLESS/include/superstructure.hpp
@@ -19,7 +19,10 @@ namespace superstruct {
     
 
     // Movement Methods
-    void driveChassis(double dist, bool useHeadingCorrection);
+    void driveChassisAsync(double dist, bool useHeadingCorrection);
+    void driveChassisSync(double dist, bool useHeadingCorrection);
+    void driveChasissWithMD(double dist, bool useHeadingCorrection, double waitUntilDist);
+
     void turnChassis(double theta);
     void leftSwing(double theta);
     void rightSwing(double theta);
diff --git a/RELENTLESS/src/superstructure.cpp b/RELENTLESS/src/superstructure.cpp
index 336994b..6c2a6ee 100644
--- a/RELENTLESS/src/superstructure.cpp
+++ b/RELENTLESS/src/superstructure.cpp
@@ -53,11 +53,23 @@ namespace superstruct {
 
 
   // motion and stuff
-  void driveChassis(double dist, bool useHeadingCorrection) {
+  void driveChassisAsync(double dist, bool useHeadingCorrection) {
     //chassis.set_mode(ary::DRIVE);
     chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 
   }
 
+  void driveChassisSync(double dist, bool useHeadingCorrection) {
+    //chassis.set_mode(ary::DRIVE);
+    chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 
+    chassis.wait_drive();
+  }
+
+  void driveChasissWithMD(double dist, bool useHeadingCorrection, double waitUntilDist) {
+    //chassis.set_mode(ary::DRIVE);
+    chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 
+    chassis.wait_until(waitUntilDist);
+  }
+
   void turnChassis(double theta) {
     //chassis.set_mode(ary::TURN);
     chassis.set_turn(theta, TURN_SPEED * turnScale);