diff --git a/include/VOSS/chassis/ChassisCommand.hpp b/include/VOSS/chassis/ChassisCommand.hpp
index e4666b7e..598b3ab0 100644
--- a/include/VOSS/chassis/ChassisCommand.hpp
+++ b/include/VOSS/chassis/ChassisCommand.hpp
@@ -9,8 +9,12 @@ struct Voltages {
 	double left;
 	double right;
 };
+struct Chained {
+    double left;
+    double right;
+};
 
-using ChassisCommand = std::variant<Stop, Voltages>;
+using ChassisCommand = std::variant<Stop, Voltages, Chained>;
 
 template <class... Ts> struct overload : Ts... {
 	using Ts::operator()...;
diff --git a/src/VOSS/chassis/DiffChassis.cpp b/src/VOSS/chassis/DiffChassis.cpp
index c9527783..7e4ac67d 100644
--- a/src/VOSS/chassis/DiffChassis.cpp
+++ b/src/VOSS/chassis/DiffChassis.cpp
@@ -71,7 +71,25 @@ bool DiffChassis::execute(ChassisCommand cmd, double max) {
 		                           this->prev_voltages = v;
 
 		                           return false;
-	                           }},
+	                           },
+                               [this, max](Chained& v){
+                                   if (fabs(v.left) > max) {
+                                       v.left = max * ((v.left < 0) ? -1 : 1);
+                                   }
+                                   if (fabs(v.right) > max) {
+                                       v.right = max * ((v.right < 0) ? -1 : 1);
+                                   }
+
+                                   v.left = slew(v.left, true);
+                                   v.right = slew(v.right, false);
+
+                                   this->left_motors->move_voltage(120 * v.left);
+                                   this->right_motors->move_voltage(120 * v.right);
+
+                                   this->prev_voltages = {v.left, v.right};
+
+                                   return true;
+                               }},
 	                  cmd);
 }
 
diff --git a/src/VOSS/controller/PIDController.cpp b/src/VOSS/controller/PIDController.cpp
index 9b8aa958..9eec68fe 100644
--- a/src/VOSS/controller/PIDController.cpp
+++ b/src/VOSS/controller/PIDController.cpp
@@ -13,7 +13,7 @@ PIDController::PIDController(std::shared_ptr<localizer::AbstractLocalizer> l)
 
 chassis::ChassisCommand PIDController::get_command(bool reverse, bool thru) {
 	Point current_pos = this->l->get_position();
-
+    bool chainedExecutable = false;
 	bool noPose = this->target.theta == 361;
 
 	double dx = target.x - current_pos.x;
@@ -29,23 +29,26 @@ chassis::ChassisCommand PIDController::get_command(bool reverse, bool thru) {
 
 	angle_error = voss::norm_delta(angle_error);
 
-	if (distance_error <= exit_error || (distance_error < min_error && fabs(cos(angle_error)) <= 0.1)) {
-		total_lin_err = 0;
-		close += 10;
-	} else {
-		close = 0;
-	}
+    double lin_speed;
+
+
+
+    if (distance_error <= exit_error || (distance_error < min_error && fabs(cos(angle_error)) <= 0.1)) {
+        if(thru) {
+            chainedExecutable = true;
+        } else {
+            total_lin_err = 0;
+            close += 10;
+        }
+    } else {
+        close = 0;
+    }
 
 	if (close > settle_time) {
 		return chassis::ChassisCommand{chassis::Stop{}};
 	}
 
-	double lin_speed;
-	if (thru) {
-		lin_speed = 100;
-	} else {
-		lin_speed = linear_pid(distance_error) * (reverse ? -1 : 1);
-	}
+    lin_speed = thru ? 100.0 : (linear_pid(distance_error) * (reverse ? -1 : 1));
 
 	double ang_speed;
 	if (distance_error < min_error) {
@@ -74,9 +77,13 @@ chassis::ChassisCommand PIDController::get_command(bool reverse, bool thru) {
 
 		ang_speed = angular_pid(angle_error);
 	}
+    if(chainedExecutable){
+        return chassis::ChassisCommand{
+                chassis::Chained{100.0 - ang_speed, 100.0 + ang_speed}};
+    }
 
-	return chassis::ChassisCommand{
-	    chassis::Voltages{lin_speed - ang_speed, lin_speed + ang_speed}};
+    return chassis::ChassisCommand{
+        chassis::Voltages{lin_speed - ang_speed, lin_speed + ang_speed}};
 }
 
 chassis::ChassisCommand PIDController::get_angular_command(bool reverse,