diff --git a/src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java b/src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java
new file mode 100644
index 00000000..c12efd09
--- /dev/null
+++ b/src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java
@@ -0,0 +1,29 @@
+package competition.subsystems.drive.commands;
+
+import competition.subsystems.collector.CollectorSubsystem;
+import competition.subsystems.drive.DriveSubsystem;
+import competition.subsystems.oracle.DynamicOracle;
+import competition.subsystems.pose.PoseSubsystem;
+import competition.subsystems.vision.NoteSeekLogic;
+import competition.subsystems.vision.VisionSubsystem;
+import xbot.common.properties.PropertyFactory;
+import xbot.common.subsystems.drive.control_logic.HeadingModule;
+
+import javax.inject.Inject;
+
+public class DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand extends DriveToGivenNoteWithBearingVisionCommand{
+
+    VisionSubsystem vision;
+
+    @Inject
+    DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand(PoseSubsystem pose, DriveSubsystem drive, DynamicOracle oracle, PropertyFactory pf, HeadingModule.HeadingModuleFactory headingModuleFactory, VisionSubsystem vision, CollectorSubsystem collector, NoteSeekLogic noteSeekLogic) {
+        super(pose, drive, oracle, pf, headingModuleFactory, vision, collector, noteSeekLogic);
+        this.vision = vision;
+    }
+
+    @Override
+    public void execute() {
+        super.setMaximumSpeedOverride(vision.getSpeedForAuto());
+        super.execute();
+    }
+}