diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 424ee467..52e4fc79 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -250,7 +250,9 @@ private void configureBindings() {
         new SetElevatorTargetPosition(controller::getLeftY, elevatorSubsystem);
     elevatorSubsystem.setDefaultCommand(setElevatorTargetPosition);
     controller.b().onTrue(new ClimbToLimit(climber, Constants.CLIMBER_PHASE2_SPEED));
-    controller.a().onTrue(new DeployHarpoon(climber, elevatorSubsystem, lightStrip, ElevatorPosition.CLIMB));
+    controller
+        .a()
+        .onTrue(new DeployHarpoon(climber, elevatorSubsystem, lightStrip, ElevatorPosition.CLIMB));
     //    controller.a().onTrue(new DeployClimber(climber));
     controller.x().onTrue(new ByeByeAllDone(byebyeTilt, byebyeRoller, elevatorSubsystem));
     controller.y().onTrue(new RemoveAlgaeFromReef(byebyeTilt, byebyeRoller, elevatorSubsystem));
diff --git a/src/main/java/frc/robot/commands/collision/CheckCollision.java b/src/main/java/frc/robot/commands/collision/CheckCollision.java
new file mode 100644
index 00000000..1cc3e678
--- /dev/null
+++ b/src/main/java/frc/robot/commands/collision/CheckCollision.java
@@ -0,0 +1,59 @@
+package frc.robot.commands.collision;
+
+import edu.wpi.first.math.MathUtil;
+import frc.robot.constants.Constants;
+import frc.robot.subsystems.gyro.ThreadedGyro;
+import frc.robot.subsystems.swervev3.SwerveDrivetrain;
+import frc.robot.utils.logging.commands.LoggableCommand;
+import java.util.function.DoubleSupplier;
+
+public class CheckCollision extends LoggableCommand {
+  private SwerveDrivetrain drivetrain;
+  private DoubleSupplier horizSupplier;
+  private final DoubleSupplier vertSupplier;
+  private ThreadedGyro accelerometer;
+  private double currentVelValue;
+  private double predictedVelValue;
+  private boolean trustOdometry;
+
+  public CheckCollision(
+      ThreadedGyro accelerometer,
+      SwerveDrivetrain drivetrain,
+      DoubleSupplier horizSupplier,
+      DoubleSupplier vertSupplier) {
+    this.drivetrain = drivetrain;
+    this.horizSupplier = horizSupplier;
+    this.vertSupplier = vertSupplier;
+    this.accelerometer = accelerometer;
+    trustOdometry = true;
+    addRequirements(drivetrain);
+  }
+
+  @Override
+  public void initialize() {}
+
+  @Override
+  public void execute() {
+    double horizVal = -horizSupplier.getAsDouble();
+    double vertVal = -vertSupplier.getAsDouble();
+    double y = MathUtil.applyDeadband(horizVal, 0.05) * Constants.MAX_VELOCITY / 10;
+    double x = MathUtil.applyDeadband(vertVal, 0.05) * Constants.MAX_VELOCITY / 10;
+    currentVelValue = accelerometer.getVelocityValue();
+    predictedVelValue = Math.sqrt(Math.pow(y, 2) + Math.pow(x, 2));
+    if (Math.abs(currentVelValue - predictedVelValue) > Constants.COLLISION_VALUE) {
+      trustOdometry = false;
+    }
+  }
+
+  public boolean getTrustOdometry() {
+    return trustOdometry;
+  }
+
+  @Override
+  public void end(boolean interrupted) {}
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java
index 09cfc094..b54aad7e 100644
--- a/src/main/java/frc/robot/constants/GameConstants.java
+++ b/src/main/java/frc/robot/constants/GameConstants.java
@@ -207,6 +207,7 @@ public enum Mode {
   public static final boolean HI_HI_SIMULATE_GRAVITY = false;
   public static final int MAX_VALID_TICKS_INTAKE = 15; // TODO: Change Later
   public static final int MAX_VALID_TICKS_ELEVATOR = 10; // TODO: Change Later
+  public static final double COLLISION_VALUE = 10; // should be tested to find what works well
 
   public static final double ROBOT_MASS = 58.967; // In Kg, change later
   public static final double ROBOT_BUMPER_WIDTH = 0.914;
diff --git a/src/main/java/frc/robot/subsystems/gyro/ThreadedGyro.java b/src/main/java/frc/robot/subsystems/gyro/ThreadedGyro.java
index eea52aff..f78599c3 100644
--- a/src/main/java/frc/robot/subsystems/gyro/ThreadedGyro.java
+++ b/src/main/java/frc/robot/subsystems/gyro/ThreadedGyro.java
@@ -16,9 +16,15 @@ public class ThreadedGyro {
   private final AtomicLong lastGyro;
   private final AtomicLong gyroOffset = new AtomicLong();
   private final ScheduledExecutorService executor;
+  private double currentVelocityValue;
+  private double currentVelValueX;
+  private double currentVelValueY;
 
   public ThreadedGyro(AHRS gyro) {
     this.gyro = gyro;
+    this.currentVelocityValue = 0;
+    this.currentVelValueX = 0;
+    this.currentVelValueY = 0;
     this.lastGyro = new AtomicLong((Double.doubleToLongBits(0)));
     this.executor = Executors.newScheduledThreadPool(1);
   }
@@ -59,12 +65,19 @@ public boolean stopAndWait(long maxTime, TimeUnit timeUnit) {
 
   private void updateGyro() {
     lastGyro.set(Double.doubleToLongBits(((gyro.getAngle()) % 360) * -1));
+    currentVelValueX = gyro.getVelocityX();
+    currentVelValueY = gyro.getVelocityY();
+    currentVelocityValue = Math.sqrt(Math.pow(currentVelValueX, 2) + Math.pow(currentVelValueY, 2));
   }
 
   public double getGyroValue() {
     return Double.longBitsToDouble(lastGyro.get());
   }
 
+  public double getVelocityValue() {
+    return currentVelocityValue;
+  }
+
   public void resetGyro() {
     shouldReset.set(true);
   }