diff --git a/commands/motor/MotorControl.java b/commands/motor/MotorControl.java
index 7f5c1d67..5d0458bf 100644
--- a/commands/motor/MotorControl.java
+++ b/commands/motor/MotorControl.java
@@ -1,8 +1,8 @@
 package org.usfirst.frc4904.standard.commands.motor;
 
 
+import java.util.function.Supplier;
 import org.usfirst.frc4904.standard.LogKitten;
-import org.usfirst.frc4904.standard.custom.controllers.Controller;
 import org.usfirst.frc4904.standard.subsystems.motor.Motor;
 import org.usfirst.frc4904.standard.subsystems.motor.PositionSensorMotor;
 import edu.wpi.first.wpilibj.command.Command;
@@ -14,41 +14,54 @@
  */
 public class MotorControl extends Command {
 	protected final Motor motor;
-	protected final Controller controller;
-	protected final int axis;
-	protected final double scale;
+	protected final Supplier<Double> speedSupplier;
+	protected final double offset;
 
 	/**
-	 * This Command directly controls a Motor based on an axis of the Controller.
-	 * This can allow an Operator to easily control a single Motor from an axis of the Controller.
+	 * This Command directly controls a Motor based on a double supplier; This
+	 * can allow an Operator to easily control a single Motor from an axis of
+	 * the Controller.
 	 *
+	 * @param name
 	 * @param motor
-	 * @param controller
-	 * @param axis
-	 * @param scale
+	 * @param speedSupplier
+	 * @param offset
+	 *            A constant to add to the motor's speed Useful for using a
+	 *            controller for fine-tuning a constant speed
 	 */
-	public MotorControl(Motor motor, Controller controller, int axis, double scale) {
-		super("MotorControl");
+	public MotorControl(String name, Motor motor, Supplier<Double> speedSupplier, double offset) {
+		super(name);
 		this.motor = motor;
-		this.controller = controller;
-		this.axis = axis;
-		this.scale = scale;
+		this.speedSupplier = speedSupplier;
+		this.offset = offset;
 		requires(motor);
 		setInterruptible(true);
 		LogKitten.d("MotorControl created for " + motor.getName());
 	}
 
 	/**
-	 * This Command directly controls a Motor based on an axis of the Controller.
-	 * This can allow an Operator to easily control a single Motor from an axis of the Controller.
+	 * This Command directly controls a Motor based on an axis of the
+	 * Controller. This can allow an Operator to easily control a single Motor
+	 * from an axis of the Controller.
 	 *
+	 * @param name
 	 * @param motor
-	 * @param controller
-	 * @param axis
-	 * @param scale
+	 * @param speedSupplier
 	 */
-	public MotorControl(Motor motor, Controller controller, int axis) {
-		this(motor, controller, axis, 1.0);
+	public MotorControl(String name, Motor motor, Supplier<Double> speedSupplier) {
+		this(name, motor, speedSupplier, 0.0);
+	}
+
+	/**
+	 * This Command directly controls a Motor based on an axis of the
+	 * Controller. This can allow an Operator to easily control a single Motor
+	 * from an axis of the Controller.
+	 *
+	 * @param motor
+	 * @param speedSupplier
+	 */
+	public MotorControl(Motor motor, Supplier<Double> speedSupplier) {
+		this("MotorControl", motor, speedSupplier, 0.0);
 	}
 
 	@Override
@@ -61,8 +74,9 @@ protected void initialize() {
 
 	@Override
 	protected void execute() {
-		LogKitten.d("MotorControl executing: " + controller.getAxis(axis));
-		motor.set(controller.getAxis(axis) * scale);
+		double speed = speedSupplier.get() + offset;
+		LogKitten.d("MotorControl executing: " + speed);
+		motor.set(speed);
 	}
 
 	@Override
diff --git a/commands/motor/MotorSet.java b/commands/motor/MotorSet.java
index 04f9b1b1..dab5f84f 100644
--- a/commands/motor/MotorSet.java
+++ b/commands/motor/MotorSet.java
@@ -8,12 +8,9 @@
 
 /**
  * Sets a motor to a speed.
- * The speed can change through
- * use of the set command.
- * This is better than setting
- * the motor because it uses
- * requires to avoid having
- * multiple attempts to set a
+ * The speed can change through use of the set command.
+ * This is better than setting the motor because it uses
+ * requires to avoid having multiple attempts to set a
  * motor simultaneously.
  *
  */
@@ -21,8 +18,14 @@ public class MotorSet extends Command {
 	protected final SpeedController motor;
 	protected double speed;
 
-	public MotorSet(Motor motor) {
-		super("MotorSet");
+	/**
+	 * Command that wraps the set function of a motor.
+	 * 
+	 * @param name
+	 * @param motor
+	 */
+	public MotorSet(String name, Motor motor) {
+		super(name);
 		this.motor = motor;
 		speed = 0;
 		LogKitten.d("MotorSet created for " + motor.getName());
@@ -30,17 +33,26 @@ public MotorSet(Motor motor) {
 		setInterruptible(true);
 	}
 
+	/**
+	 * Command that wraps the set function of a motor.
+	 * 
+	 * @param motor
+	 */
+	public MotorSet(Motor motor) {
+		this("MotorSet", motor);
+	}
+
 	@Override
 	protected void initialize() {
 		LogKitten.d("MotorSet initialized");
 	}
 
 	/**
-	 * Set the speed of the motor
+	 * Set the speed of the motor in this class
 	 */
 	public void set(double speed) {
 		this.speed = speed;
-		LogKitten.d("MotorSet writePipe set to " + speed);
+		LogKitten.d("MotorSet set to " + speed);
 	}
 
 	@Override
diff --git a/commands/motor/MotorSuppliedConstant.java b/commands/motor/MotorSuppliedConstant.java
new file mode 100644
index 00000000..43dce65e
--- /dev/null
+++ b/commands/motor/MotorSuppliedConstant.java
@@ -0,0 +1,70 @@
+package org.usfirst.frc4904.standard.commands.motor;
+
+
+import java.util.function.Supplier;
+import org.usfirst.frc4904.standard.LogKitten;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * Set the speed of a motor based on a speed supplied on initialize.
+ * This should be used when the speed might change between construction time and when the motor should start.
+ */
+public class MotorSuppliedConstant extends Command {
+	protected final Motor motor;
+	protected final Supplier<Double> speedSupply;
+	protected double speed;
+
+	/**
+	 * Set the speed of a motor based on a speed supplied on initialize.
+	 * This should be used when the speed might change between construction time and when the motor should start.
+	 * 
+	 * @param name
+	 * @param motor
+	 * @param speedSupply
+	 */
+	public MotorSuppliedConstant(String name, Motor motor, Supplier<Double> speedSupply) {
+		super(name);
+		this.motor = motor;
+		requires(motor);
+		this.speedSupply = speedSupply;
+		setInterruptible(true);
+		LogKitten.d("MotorSuppliedConstant created for " + motor.getName());
+	}
+
+	/**
+	 * Set the speed of a motor based on a speed supplied on initialize.
+	 * This should be used when the speed might change between construction time and when the motor should start.
+	 * 
+	 * @param name
+	 * @param motor
+	 * @param speedSupply
+	 */
+	public MotorSuppliedConstant(Motor motor, Supplier<Double> speedSupply) {
+		this("MotorSuppliedConstant", motor, speedSupply);
+	}
+
+	@Override
+	protected void initialize() {
+		speed = speedSupply.get();
+		motor.set(speed);
+	}
+
+	@Override
+	protected void execute() {
+		motor.set(speed);
+	}
+
+	@Override
+	protected boolean isFinished() {
+		return false;
+	}
+
+	@Override
+	protected void end() {}
+
+	@Override
+	protected void interrupted() {
+		LogKitten.d("MotorSuppliedConstant interrupted");
+	}
+}
diff --git a/custom/controllers/ControllerDoubleSupplier.java b/custom/controllers/ControllerDoubleSupplier.java
new file mode 100644
index 00000000..7bdbc714
--- /dev/null
+++ b/custom/controllers/ControllerDoubleSupplier.java
@@ -0,0 +1,57 @@
+package org.usfirst.frc4904.standard.custom.controllers;
+
+
+import java.util.function.Supplier;
+
+public class ControllerDoubleSupplier implements Supplier<Double> {
+	protected final Controller controller;
+	protected final int axis;
+	protected final double scale;
+	protected final double offset;
+
+	/**
+	 * Wrapper for a controller that allows it to act as a double supplier for a
+	 * specific axis set to a certain scale.
+	 * 
+	 * @param controller
+	 * @param axis
+	 * @param scale
+	 */
+	public ControllerDoubleSupplier(Controller controller, int axis, double scale, double offset) {
+		this.controller = controller;
+		this.axis = axis;
+		this.scale = scale;
+		this.offset = offset;
+	}
+
+	/**
+	 * Wrapper for a controller that allows it to act as a double supplier for a
+	 * specific axis. Offset assumed as 0.
+	 * 
+	 * @param controller
+	 * @param axis
+	 * @param scale
+	 */
+	public ControllerDoubleSupplier(Controller controller, int axis, double scale) {
+		this(controller, axis, scale, 0.0);
+	}
+
+	/**
+	 * Wrapper for a controller that allows it to act as a double supplier for a
+	 * specific axis. Scale assumed as 1, offset as 0.
+	 * 
+	 * @param controller
+	 * @param axis
+	 */
+	public ControllerDoubleSupplier(Controller controller, int axis) {
+		this(controller, axis, 1.0, 0.0);
+	}
+
+	/**
+	 * Returns a double for the value of the axis.
+	 */
+	@Override
+	public Double get() {
+		return controller.getAxis(axis) * scale + offset;
+	}
+}