diff --git a/src/main/java/org/lasarobotics/fsm/StateCommand.java b/src/main/java/org/lasarobotics/fsm/StateCommand.java
new file mode 100644
index 00000000..eeb9f28f
--- /dev/null
+++ b/src/main/java/org/lasarobotics/fsm/StateCommand.java
@@ -0,0 +1,76 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.lasarobotics.fsm;
+
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/**
+ * A command composition that runs one of a selection of commands using a selector and a key to
+ * command mapping.
+ *
+ * <p>The rules for command compositions apply: command instances that are passed to it cannot be
+ * added to any other composition or scheduled individually, and the composition requires all
+ * subsystems its components require.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ *
+ * @param <K> The type of key used to select the command
+ */
+public class StateCommand extends Command {
+  private final Supplier<SystemState> m_selector;
+  private final StateMachine m_machine;
+  private SystemState m_selectedState;
+  private SystemState m_nextState;
+
+  /**
+   * Creates a new SelectCommand.
+   *
+   * @param commands the map of commands to choose from
+   * @param selector the selector to determine which command to run
+   */
+  public StateCommand(Supplier<SystemState> selector, StateMachine machine) {
+    m_selector = requireNonNullParam(selector, "selector", "StateCommand");
+    m_machine = requireNonNullParam(machine, "machine", "StateCommand");
+
+    addRequirements(machine);
+  }
+
+  @Override
+  public void initialize() {
+    m_selectedState = m_selector.get();
+    m_nextState = m_selectedState;
+    m_selectedState.initialize();
+  }
+
+  @Override
+  public void execute() {
+    m_selectedState.execute();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    m_selectedState.end(interrupted);
+    m_machine.setState(m_nextState);
+  }
+
+  @Override
+  public boolean isFinished() {
+    m_nextState = m_selectedState.nextState();
+    return !m_nextState.equals(m_selectedState);
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addStringProperty(
+        "selected", () -> m_selectedState == null ? "null" : m_selectedState.toString(), null);
+  }
+}
diff --git a/src/main/java/org/lasarobotics/fsm/StateMachine.java b/src/main/java/org/lasarobotics/fsm/StateMachine.java
new file mode 100644
index 00000000..069f1768
--- /dev/null
+++ b/src/main/java/org/lasarobotics/fsm/StateMachine.java
@@ -0,0 +1,39 @@
+package org.lasarobotics.fsm;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public abstract class StateMachine extends SubsystemBase {
+  private SystemState m_currentState;
+
+  /**
+   * Create a state machine
+   * @param initialState Starting state for state machine
+   */
+  public StateMachine(SystemState initialState) {
+    this.m_currentState = initialState;
+    super.setDefaultCommand(new StateCommand(this::getState, this).repeatedly());
+  }
+
+  /**
+   * Set system state
+   * <p>
+   * ONLY TO BE USED BY {@link StateCommand#end(boolean)}
+   */
+  void setState(SystemState state) {
+    m_currentState = state;
+  }
+
+  /**
+   * Get current system state
+   * @return Current system state
+   */
+  public SystemState getState() {
+    return m_currentState;
+  }
+
+  @Override
+  public void setDefaultCommand(Command commmand) {
+    return;
+  }
+}
diff --git a/src/main/java/org/lasarobotics/fsm/SystemState.java b/src/main/java/org/lasarobotics/fsm/SystemState.java
new file mode 100644
index 00000000..f00916d2
--- /dev/null
+++ b/src/main/java/org/lasarobotics/fsm/SystemState.java
@@ -0,0 +1,25 @@
+package org.lasarobotics.fsm;
+
+public interface SystemState {
+  /**
+   * Initial action of state. Called once when state is initially scheduled
+   */
+  public default void initialize() {}
+
+  /**
+   * Main body of state. Called repeatedly when state is scheduled.
+   */
+  public default void execute() {}
+
+  /**
+   * The action to take when the state ends. Called when either the state finishes normally, or when it interrupted/canceled.
+   * @param interrupted Whether the state was interrupted or cancelled
+   */
+  public default void end(boolean interrupted) {}
+
+  /**
+   * Get next state based on variety of inputs. Also used to know if current state is complete.
+   * @return Next state
+   */
+  public SystemState nextState();
+}