diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
index ca91412..a3dc815 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
@@ -47,7 +47,7 @@ public class TeleOPTankDriver extends CyberarmState {
             }
         }
 
-        if (FreeSpirit) {
+        if (FreeSpirit && System.currentTimeMillis() - lastStepTime >= 2000 && DeltaOdometerR < 4096) {
             getCurrentDriveCommand();
             drivePower = -currentDriveCommand;
             robot.backLeftDrive.setPower(drivePower);
@@ -56,6 +56,10 @@ public class TeleOPTankDriver extends CyberarmState {
             robot.frontRightDrive.setPower(drivePower);
         }
 
+        if (FreeSpirit && System.currentTimeMillis() - lastStepTime >= 2000 && DeltaOdometerR >= 4096) {
+            FreeSpirit = false;
+        }
+
         if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && !FreeSpirit) {
             drivePower = engine.gamepad1.left_stick_y;
             robot.backLeftDrive.setPower(drivePower);