diff --git a/include/VOSS/chassis/AbstractChassis.hpp b/include/VOSS/chassis/AbstractChassis.hpp
index dd405e3..b0b54d5 100644
--- a/include/VOSS/chassis/AbstractChassis.hpp
+++ b/include/VOSS/chassis/AbstractChassis.hpp
@@ -19,10 +19,10 @@ class AbstractChassis {
     controller::AbstractController* default_controller;
 
     void move_task(controller::AbstractController* controller, double max,
-                   voss::Flags flags);
+                   voss::Flags flags, double exitTime);
 
     void turn_task(controller::AbstractController* controller, double max,
-                   voss::Flags flags);
+                   voss::Flags flags, double exitTime);
 
   public:
     AbstractChassis(controller::AbstractController& default_controller);
@@ -33,22 +33,27 @@ class AbstractChassis {
     virtual bool execute(ChassisCommand cmd, double max) = 0;
 
     void move(Point target, controller::AbstractController* controller,
-              double max = 100.0, voss::Flags flags = voss::Flags::NONE);
+              double max = 100.0, voss::Flags flags = voss::Flags::NONE,
+              double exitTime = 22500);
     void move(Pose target, controller::AbstractController* controller,
-              double max = 100.0, voss::Flags flags = voss::Flags::NONE);
+              double max = 100.0, voss::Flags flags = voss::Flags::NONE,
+              double exitTime = 22500);
     void move(Point target, double max = 100.0,
-              voss::Flags flags = voss::Flags::NONE);
+              voss::Flags flags = voss::Flags::NONE, double exitTime = 22500);
     void move(Pose target, double max = 100.0,
-              voss::Flags flags = voss::Flags::NONE);
+              voss::Flags flags = voss::Flags::NONE, double exitTime = 22500);
 
     void turn(double target, controller::AbstractController* controller,
-              double max = 100.0, voss::Flags flags = voss::Flags::NONE);
+              double max = 100.0, voss::Flags flags = voss::Flags::NONE,
+              double exitTime = 22500);
     void turn(double target, double max = 100.0,
-              voss::Flags flags = voss::Flags::NONE);
+              voss::Flags flags = voss::Flags::NONE, double exitTime = 22500);
     void turn_to(Point target, controller::AbstractController* controller,
-                 double max = 100.0, voss::Flags flags = voss::Flags::NONE);
+                 double max = 100.0, voss::Flags flags = voss::Flags::NONE,
+                 double exitTime = 22500);
     void turn_to(Point target, double max = 100.0,
-                 voss::Flags flags = voss::Flags::NONE);
+                 voss::Flags flags = voss::Flags::NONE,
+                 double exitTime = 22500);
 };
 
 } // namespace voss::chassis
\ No newline at end of file
diff --git a/src/VOSS/chassis/AbstractChassis.cpp b/src/VOSS/chassis/AbstractChassis.cpp
index 8845ea5..f97b092 100644
--- a/src/VOSS/chassis/AbstractChassis.cpp
+++ b/src/VOSS/chassis/AbstractChassis.cpp
@@ -10,8 +10,9 @@ AbstractChassis::AbstractChassis(
 }
 
 void AbstractChassis::move_task(controller::AbstractController* controller,
-                                double max, voss::Flags flags) {
-
+                                double max, voss::Flags flags,
+                                double exitTime) {
+    int t = 0;
     pros::Task running_t([&, controller]() {
         controller->reset();
         while (
@@ -21,6 +22,11 @@ void AbstractChassis::move_task(controller::AbstractController* controller,
             if (pros::competition::is_disabled()) {
                 return;
             }
+            if (t > exitTime) {
+                return;
+            }
+
+            t += 10;
             pros::delay(10);
         }
         // this->m.give();
@@ -37,7 +43,9 @@ void AbstractChassis::move_task(controller::AbstractController* controller,
 }
 
 void AbstractChassis::turn_task(controller::AbstractController* controller,
-                                double max, voss::Flags flags) {
+                                double max, voss::Flags flags,
+                                double exitTime) {
+    int t = 0;
     pros::Task running_t([&, controller]() {
         controller->reset();
         while (!this->execute(
@@ -47,6 +55,12 @@ void AbstractChassis::turn_task(controller::AbstractController* controller,
             if (pros::competition::is_disabled()) {
                 return;
             }
+
+            if (t > exitTime) {
+                return;
+            }
+
+            t += 10;
             pros::delay(10);
         }
     });
@@ -58,59 +72,63 @@ void AbstractChassis::turn_task(controller::AbstractController* controller,
     running_t.join();
 }
 
-void AbstractChassis::move(Point target, double max, voss::Flags flags) {
-    this->move(target, this->default_controller, max, flags);
+void AbstractChassis::move(Point target, double max, voss::Flags flags,
+                           double exitTime) {
+    this->move(target, this->default_controller, max, flags, exitTime);
 }
 
-void AbstractChassis::move(Pose target, double max, voss::Flags flags) {
-    this->move(target, this->default_controller, max, flags);
+void AbstractChassis::move(Pose target, double max, voss::Flags flags,
+                           double exitTime) {
+    this->move(target, this->default_controller, max, flags, exitTime);
 }
 
 void AbstractChassis::move(Point target,
                            controller::AbstractController* controller,
-                           double max, voss::Flags flags) {
+                           double max, voss::Flags flags, double exitTime) {
     Pose pose_target = Pose{target.x, target.y, 361};
-    this->move(pose_target, controller, max, flags);
+    this->move(pose_target, controller, max, flags, exitTime);
 }
 
 void AbstractChassis::move(Pose target,
                            controller::AbstractController* controller,
-                           double max, voss::Flags flags) {
+                           double max, voss::Flags flags, double exitTime) {
     // this->m.take();
 
     controller->set_target(target, flags & voss::Flags::RELATIVE);
 
-    this->move_task(controller, max, flags);
+    this->move_task(controller, max, flags, exitTime);
 }
 
-void AbstractChassis::turn(double target, double max, voss::Flags flags) {
-    this->turn(target, this->default_controller, max, flags);
+void AbstractChassis::turn(double target, double max, voss::Flags flags,
+                           double exitTime) {
+    this->turn(target, this->default_controller, max, flags, exitTime);
 }
 
 void AbstractChassis::turn(double target,
                            controller::AbstractController* controller,
-                           double max, voss::Flags flags) {
+                           double max, voss::Flags flags, double exitTime) {
     // this->m.take();
 
     controller->set_target({0, 0, 0}, false);
     controller->set_angular_target(target, flags & voss::Flags::RELATIVE);
 
-    this->turn_task(controller, max, flags);
+    this->turn_task(controller, max, flags, exitTime);
 }
 
-void AbstractChassis::turn_to(Point target, double max, voss::Flags flags) {
-    this->turn_to(target, this->default_controller, max, flags);
+void AbstractChassis::turn_to(Point target, double max, voss::Flags flags,
+                              double exitTime) {
+    this->turn_to(target, this->default_controller, max, flags, exitTime);
 }
 
 void AbstractChassis::turn_to(Point target,
                               controller::AbstractController* controller,
-                              double max, voss::Flags flags) {
+                              double max, voss::Flags flags, double exitTime) {
     // this->m.take();
 
     controller->set_target({target.x, target.y, 361},
                            flags & voss::Flags::RELATIVE);
 
-    this->turn_task(controller, max, flags);
+    this->turn_task(controller, max, flags, exitTime);
 }
 
 } // namespace voss::chassis
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index 01eef1a..22bfa64 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -107,7 +107,7 @@ void opcontrol() {
 
         if (master.get_digital_new_press(DIGITAL_Y)) {
             odom->set_pose(voss::Pose{0.0, 0.0, 0});
-            chassis.turn(90, &swing, 100, voss::Flags::RELATIVE);
+            chassis.turn(180, 100, voss::Flags::NONE, 10000);
         }
 
         pros::lcd::clear_line(1);