diff --git a/include/VOSS/chassis/AbstractChassis.hpp b/include/VOSS/chassis/AbstractChassis.hpp
index 22c43818..94c46f57 100644
--- a/include/VOSS/chassis/AbstractChassis.hpp
+++ b/include/VOSS/chassis/AbstractChassis.hpp
@@ -21,7 +21,7 @@ class AbstractChassis {
     controller_ptr default_controller;
     ec_ptr default_ec;
     std::unique_ptr<pros::Task> task = nullptr;
-    bool task_running = false;
+    std::atomic_bool task_running = false;
     pros::motor_brake_mode_e brakeMode;
 
     void move_task(controller_ptr controller, ec_ptr ec, double max,
@@ -39,6 +39,9 @@ class AbstractChassis {
     virtual bool execute(DiffChassisCommand cmd, double max) = 0;
     virtual void set_brake_mode(pros::motor_brake_mode_e mode) = 0;
 
+    void wait_until_settled() const;
+    bool is_settled() const;
+
     void move(double distance, double max = 100.0,
               voss::Flags flags = voss::Flags::NONE);
 
diff --git a/src/VOSS/chassis/AbstractChassis.cpp b/src/VOSS/chassis/AbstractChassis.cpp
index 6774622a..5bf971ad 100644
--- a/src/VOSS/chassis/AbstractChassis.cpp
+++ b/src/VOSS/chassis/AbstractChassis.cpp
@@ -154,7 +154,7 @@ void AbstractChassis::turn_to(Point target, controller_ptr controller,
                               ec_ptr ec, double max, voss::Flags flags,
                               voss::AngularDirection direction) {
     while (this->task_running) {
-        pros::delay(10);
+        pros::delay(constants::MOTOR_UPDATE_DELAY);
     }
     this->task_running = true;
 
@@ -165,4 +165,14 @@ void AbstractChassis::turn_to(Point target, controller_ptr controller,
                     direction);
 }
 
+void AbstractChassis::wait_until_settled() const {
+    while (this->task_running) {
+        pros::delay(constants::MOTOR_UPDATE_DELAY);
+    }
+}
+
+bool AbstractChassis::is_settled() const {
+    return this->task_running;
+}
+
 } // namespace voss::chassis
\ No newline at end of file