diff --git a/src/main/java/frc/subsystem/Drive.java b/src/main/java/frc/subsystem/Drive.java
index f930b37c..4c13d245 100644
--- a/src/main/java/frc/subsystem/Drive.java
+++ b/src/main/java/frc/subsystem/Drive.java
@@ -898,4 +898,8 @@ public void turnToAngle(double degrees) throws InterruptedException {
             Thread.onSpinWait();
         }
     }
+
+    public synchronized void setSearchForBall() {
+        setDriveState(DriveState.SEARCH_FOR_BALL);
+    }
 }