diff --git a/src/main/java/competition/auto_programs/SubwooferShotFromMidShootThenShootNearestThree.java b/src/main/java/competition/auto_programs/SubwooferShotFromMidShootThenShootNearestThree.java
index d63c7f26..03f9925a 100644
--- a/src/main/java/competition/auto_programs/SubwooferShotFromMidShootThenShootNearestThree.java
+++ b/src/main/java/competition/auto_programs/SubwooferShotFromMidShootThenShootNearestThree.java
@@ -7,6 +7,7 @@
 import competition.subsystems.drive.commands.DriveToCentralSubwooferCommand;
 import competition.subsystems.drive.commands.DriveToListOfPointsCommand;
 import competition.subsystems.pose.PoseSubsystem;
+import competition.subsystems.vision.VisionSubsystem;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -29,7 +30,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector
                                                           Provider<DriveToGivenNoteAndCollectCommandGroup> driveToGivenNoteAndCollectCommandGroupProvider,
                                                           Provider<FireFromSubwooferCommandGroup> fireFromSubwooferCommandGroup,
                                                           Provider<DriveToCentralSubwooferCommand> driveToCentralSubwooferCommandProvider,
-                                                          PoseSubsystem pose, DriveSubsystem drive) {
+                                                          PoseSubsystem pose, DriveSubsystem drive, VisionSubsystem vision) {
         this.autoSelector = autoSelector;
 
         // Force our location
@@ -50,6 +51,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector
                 })
         );
         var driveToMiddleSpikeNoteAndCollect = driveToGivenNoteAndCollectCommandGroupProvider.get();
+        driveToMiddleSpikeNoteAndCollect.setMaximumSpeedOverride(vision.getSpeedForAuto());
         this.addCommands(driveToMiddleSpikeNoteAndCollect.withTimeout(interstageTimeout));
 
         // Drive back to subwoofer
@@ -68,6 +70,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector
                 })
         );
         var driveToTopSpikeNoteAndCollect = driveToGivenNoteAndCollectCommandGroupProvider.get();
+        driveToTopSpikeNoteAndCollect.setMaximumSpeedOverride(vision.getSpeedForAuto());
         this.addCommands(driveToTopSpikeNoteAndCollect.withTimeout(interstageTimeout));
 
         // Drive back to subwoofer
@@ -94,6 +97,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector
 
         // Now, go get the bottom spike note
         var driveToBottomSpikeNoteAndCollect = driveToGivenNoteAndCollectCommandGroupProvider.get();
+        driveToBottomSpikeNoteAndCollect.setMaximumSpeedOverride(vision.getSpeedForAuto());
         this.addCommands(driveToBottomSpikeNoteAndCollect.withTimeout(interstageTimeout));
 
         // Drive back to subwoofer
diff --git a/src/main/java/competition/subsystems/drive/DriveSubsystem.java b/src/main/java/competition/subsystems/drive/DriveSubsystem.java
index 84129c73..df311063 100644
--- a/src/main/java/competition/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/competition/subsystems/drive/DriveSubsystem.java
@@ -38,6 +38,7 @@ public class DriveSubsystem extends BaseSwerveDriveSubsystem implements DataFram
     private Translation2d specialPointAtPositionTarget = new Translation2d();
     private final DoubleProperty suggestedAutonomousMaximumSpeed;
     private final DoubleProperty suggestedAutonomousExtremeSpeed;
+    private final DoubleProperty suggestedAutonomousSpeedIfNotVisionAssisted;
     private final PIDManager aggressiveGoalHeadingPidManager;
 
     @Inject
@@ -54,6 +55,8 @@ public DriveSubsystem(PIDManagerFactory pidFactory, PropertyFactory pf,
                 pf.createPersistentProperty("Suggested Autonomous Maximum Speed", 3.0);
         suggestedAutonomousExtremeSpeed =
                 pf.createPersistentProperty("Suggested Autonomous EXTREME Speed", 5.0);
+        suggestedAutonomousSpeedIfNotVisionAssisted =
+                pf.createPersistentProperty("Suggested Autonomous NO VISION Speed", 1.5);
 
         aggressiveGoalHeadingPidManager = aggressiveGoalHeadingPidFactory.create(
                 this.getPrefix() + "AggressiveGoalHeadingPID",
@@ -77,6 +80,9 @@ public double getSuggestedAutonomousMaximumSpeed() {
     }
 
     public double getSuggestedAutonomousExtremeSpeed() { return suggestedAutonomousExtremeSpeed.get(); }
+    public double getSuggestedAutonomousNoAutoSpeed() {
+        return suggestedAutonomousSpeedIfNotVisionAssisted.get();
+    }
 
     @Override
     protected PIDDefaults getPositionalPIDDefaults() {
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..ec107a5b
--- /dev/null
+++ b/src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java
@@ -0,0 +1,32 @@
+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();
+    }
+}
diff --git a/src/main/java/competition/subsystems/vision/VisionSubsystem.java b/src/main/java/competition/subsystems/vision/VisionSubsystem.java
index 3d653ce5..b7ed5644 100644
--- a/src/main/java/competition/subsystems/vision/VisionSubsystem.java
+++ b/src/main/java/competition/subsystems/vision/VisionSubsystem.java
@@ -1,6 +1,7 @@
 package competition.subsystems.vision;
 
 import competition.electrical_contract.CompetitionContract;
+import competition.subsystems.drive.DriveSubsystem;
 import competition.subsystems.pose.PoseSubsystem;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
@@ -39,6 +40,7 @@
 @Singleton
 public class VisionSubsystem extends BaseSubsystem implements DataFrameRefreshable {
 
+    DriveSubsystem drive;
     final RobotAssertionManager assertionManager;
     final BooleanProperty isInverted;
     final DoubleProperty yawOffset;
@@ -73,11 +75,14 @@ public class VisionSubsystem extends BaseSubsystem implements DataFrameRefreshab
     public final double terminalNotePitch = 0.0;
 
     public final DoubleProperty terminalNoteYawRange;
+    BooleanProperty usingVisionForAuto;
 
 
     @Inject
-    public VisionSubsystem(PropertyFactory pf, XCameraElectricalContract electricalContract, RobotAssertionManager assertionManager) {
+    public VisionSubsystem(PropertyFactory pf, XCameraElectricalContract electricalContract, RobotAssertionManager assertionManager,
+                           DriveSubsystem drive) {
         this.assertionManager = assertionManager;
+        this.drive = drive;
 
         pf.setPrefix(this);
         isInverted = pf.createPersistentProperty("Yaw inverted", true);
@@ -89,6 +94,8 @@ public VisionSubsystem(PropertyFactory pf, XCameraElectricalContract electricalC
         minNoteConfidence = pf.createPersistentProperty("Min note confidence", 0.8);
         minNoteArea = pf.createPersistentProperty("Minimum note area", 0.5);
 
+        usingVisionForAuto = pf.createPersistentProperty("Using vision for auto", true);
+
         terminalNoteYawRange = pf.createPersistentProperty("Terminal Note Yaw Range", 5.0);
 
         bestRangeFromStaticNoteToSearchForNote = pf.createPersistentProperty("BestRangeFromStaticNoteToSearchForNote", 1.2);
@@ -487,4 +494,12 @@ else if (allCameras.stream().allMatch(state -> !state.isCameraWorking())) {
         // If some of the cameras are working, return 2
         return 2;
     }
+
+    public double getSpeedForAuto() {
+        if (usingVisionForAuto.get()) {
+            return drive.getSuggestedAutonomousExtremeSpeed();
+        } else {
+            return drive.getSuggestedAutonomousNoAutoSpeed();
+        }
+    }
 }