diff --git a/strongback-examples/src/org/strongback/example/simple/SimpleAutoTankDriveRobot.java b/strongback-examples/src/org/strongback/example/simple/SimpleAutoTankDriveRobot.java
index dbbc57f..cb7405b 100644
--- a/strongback-examples/src/org/strongback/example/simple/SimpleAutoTankDriveRobot.java
+++ b/strongback-examples/src/org/strongback/example/simple/SimpleAutoTankDriveRobot.java
@@ -17,7 +17,6 @@
 package org.strongback.example.simple;
 
 import org.strongback.Strongback;
-import org.strongback.command.Command;
 import org.strongback.components.Motor;
 import org.strongback.components.ui.ContinuousRange;
 import org.strongback.components.ui.FlightStick;
@@ -41,7 +40,6 @@ public class SimpleAutoTankDriveRobot extends IterativeRobot {
     private static final int RF_MOTOR_PORT = 3;
     private static final int RR_MOTOR_PORT = 4;
 
-    private Command autonomousCommand;
     private TankDrive drive;
     private ContinuousRange driveSpeed;
     private ContinuousRange turnSpeed;
@@ -64,11 +62,6 @@ public void robotInit() {
         driveSpeed = joystick.getPitch().scale(sensitivity::read); // scaled
         turnSpeed = joystick.getRoll().scale(sensitivity::read).invert(); // scaled and inverted
 
-        // Set up the command we'll use during autonomous. We'd probably use a custom CommandGroup that did something more
-        // complicated, but for this very simple example we'll just drive forward at 50% speed for 5 seconds,
-        // so we can use a simple lambda ...
-        autonomousCommand = Command.create(5.0, () -> drive.tank(0.5, 0.5));
-
         // Set up the data recorder to capture the left & right motor speeds (since both motors on the same side should
         // be at the same speed, we can just use the composed motors for each) and the sensitivity. We have to do this
         // before we start Strongback...
@@ -83,7 +76,7 @@ public void robotInit() {
     public void autonomousInit() {
         // Start Strongback functions ...
         Strongback.start();
-        Strongback.submit(autonomousCommand);
+        Strongback.submit(()->drive.tank(0.5, 0.5), 5.0, drive::stop);
     }
 
     @Override
@@ -99,8 +92,10 @@ public void teleopPeriodic() {
 
     @Override
     public void disabledInit() {
+        drive.stop();
         // Tell Strongback that the robot is disabled so it can flush and kill commands.
         Strongback.disable();
     }
 
 }
+
diff --git a/strongback/src/org/strongback/Strongback.java b/strongback/src/org/strongback/Strongback.java
index 29cd9dd..288deae 100644
--- a/strongback/src/org/strongback/Strongback.java
+++ b/strongback/src/org/strongback/Strongback.java
@@ -21,6 +21,7 @@
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicLong;
 import java.util.concurrent.locks.LockSupport;
+import java.util.function.BooleanSupplier;
 import java.util.function.Function;
 import java.util.function.LongConsumer;
 import java.util.function.Supplier;
@@ -484,6 +485,55 @@ public static void submit(Command command) {
         if (command != null) INSTANCE.scheduler.submit(command);
     }
 
+    /**
+     * Submit to Strongback's internal scheduler a {@link Command} that runs the supplied function one time and completes
+     * immediately.
+     *
+     * @param executeFunction the function to be called during execution; may not be null
+     */
+    public static void submit(Runnable executeFunction) {
+        submit(Command.create(executeFunction));
+    }
+
+    /**
+     * Submit to Strongback's internal scheduler a {@link Command} that runs the supplied function one time, waits the
+     * prescribed amount of time, and then calls the second function.
+     *
+     * @param first the first function to be called; may not be null
+     * @param delayInSeconds the delay in seconds after the first function completes; must be positive
+     * @param second the second function to be called after the delay; may be null if not needed
+     */
+    public static void submit(Runnable first, double delayInSeconds, Runnable second) {
+        submit(Command.create(delayInSeconds, first, second));
+    }
+
+    /**
+     * Submit to Strongback's internal scheduler a {@link Command} that runs the supplied function one or more times until it
+     * returns <code>false</code> or until the prescribed maximum time has passed, whichever comes first.
+     *
+     * @param function the function to be called at least one time and that should return <code>true</code> if it is to be
+     *        called again; may not be null
+     * @param maxDurationInSeconds the maximum amount of time that the first function should be repeatedly called; must be
+     *        positive
+     */
+    public static void submit(BooleanSupplier function, double maxDurationInSeconds) {
+        submit(Command.create(maxDurationInSeconds, function));
+    }
+
+    /**
+     * Submit to Strongback's internal scheduler a {@link Command} that runs the supplied function one or more times until it
+     * returns <code>false</code> or until the prescribed maximum time has passed, and then calls the second function.
+     *
+     * @param first the first function to be called at least one time and that should return <code>true</code> if it is to be
+     *        called again; may not be null
+     * @param maxDurationInSeconds the maximum amount of time that the first function should be repeatedly called; must be
+     *        positive
+     * @param second the second function to be called after the delay; may be null if not needed
+     */
+    public static void submit(BooleanSupplier first, double maxDurationInSeconds, Runnable second) {
+        submit(Command.create(maxDurationInSeconds, first, second));
+    }
+
     /**
      * Get Strongback's {@link SwitchReactor} that can be used to call functions when {@link Switch switches} change state or
      * while they remain in a specific state. The switch reactor is registered with the {@link #executor() executor}, so it
diff --git a/strongback/src/org/strongback/command/Command.java b/strongback/src/org/strongback/command/Command.java
index 7720105..94c22c5 100644
--- a/strongback/src/org/strongback/command/Command.java
+++ b/strongback/src/org/strongback/command/Command.java
@@ -207,10 +207,38 @@ public static Command create(Runnable executeFunction) {
      * @return the new command; never null
      */
     public static Command create(double durationInSeconds, Runnable executeFunction) {
-        return create(durationInSeconds, () -> {
-            executeFunction.run();
-            return false;
-        } , () -> "Command (one-time, duration=" + durationInSeconds + " sec) " + executeFunction);
+        return create(durationInSeconds, executeFunction, null);
+    }
+
+    /**
+     * Create a new command that runs once by executing the supplied function, then wait the prescribed amount of time, and then
+     * call the supplied {@code endFunction}. The resulting command will have no {@link Requirable}s.
+     *
+     * @param durationInSeconds the maximum duration in seconds that the command should execute; must be positive
+     * @param executeFunction the function to be called during execution; may not be null
+     * @param endFunction the function to be called when the command terminates; may be null
+     * @return the new command; never null
+     */
+    public static Command create(double durationInSeconds, Runnable executeFunction, Runnable endFunction) {
+        return new Command(durationInSeconds) {
+            boolean completed = false;
+            @Override
+            public boolean execute() {
+                if ( !completed ) {
+                    executeFunction.run();
+                    completed = true;
+                }
+                return true;
+            }
+            @Override
+            public void end() {
+                if ( endFunction != null ) endFunction.run();
+            }
+            @Override
+            public String toString() {
+                return "one-time, duration=" + durationInSeconds + " sec) " + executeFunction;
+            }
+        };
     }
 
     /**
@@ -221,7 +249,19 @@ public static Command create(double durationInSeconds, Runnable executeFunction)
      * @return the new command; never null
      */
     public static Command create(BooleanSupplier executeFunction) {
-        return create(0.0, executeFunction, () -> "Command " + executeFunction);
+        return create(0.0, executeFunction, null, () -> "Command " + executeFunction);
+    }
+
+    /**
+     * Create a new command that runs one or more times by executing the supplied function. When the command terminates, the
+     * {@code endFunction} will be called. The resulting command will have no {@link Requirable}s.
+     *
+     * @param executeFunction the function to be called during execution; may not be null
+     * @param endFunction the function to be called when the command terminates; may be null
+     * @return the new command; never null
+     */
+    public static Command create(BooleanSupplier executeFunction, Runnable endFunction) {
+        return create(0.0, executeFunction, endFunction, () -> "Command " + executeFunction);
     }
 
     /**
@@ -240,22 +280,63 @@ public static Command create(double timeoutInSeconds, BooleanSupplier executeFun
 
     /**
      * Create a new command that runs one or more times by executing the supplied function, but that will timeout if taking
-     * longer than the specified timeout. The resulting command will have no {@link Requirable}s.
+     * longer than the specified timeout. When the command terminates, the {@code endFunction} will be called. The resulting
+     * command will have no {@link Requirable}s.
      *
      * @param timeoutInSeconds the time in seconds
      * @param executeFunction the function to be called during execution; may not be null
+     * @param endFunction the function to be called when the command terminates; may be null
+     * @return the new command; never null
+     */
+    public static Command create(double timeoutInSeconds, BooleanSupplier executeFunction, Runnable endFunction) {
+        return create(timeoutInSeconds,
+                      executeFunction,
+                      endFunction,
+                      () -> "Command (timeout=" + timeoutInSeconds + " sec,repeatable) " + executeFunction);
+    }
+
+    /**
+     * Create a new command that runs one or more times by executing the supplied function, but that will timeout if taking
+     * longer than the specified timeout. When the command terminates, the {@code endFunction} will be called. The resulting
+     * command will have no {@link Requirable}s.
+     *
+     * @param timeoutInSeconds the time in seconds
+     * @param executeFunction the function to be called during execution; may not be null
+     * @param endFunction the function to be called when the command terminates; may be null
+     * @param toString the function to be called when {@link Command#toString()} is called; may not be null
+     * @param requirements the {@link Requirable}s for the command
+     * @return the new command; never null
+     */
+    protected static Command create(double timeoutInSeconds, BooleanSupplier executeFunction,
+            Supplier<String> toString, Requirable... requirements) {
+        return create(timeoutInSeconds, executeFunction, null, toString, requirements);
+    }
+
+    /**
+     * Create a new command that runs one or more times by executing the supplied function, but that will timeout if taking
+     * longer than the specified timeout. When the command terminates, the {@code endFunction} will be called. The resulting
+     * command will have no {@link Requirable}s.
+     *
+     * @param timeoutInSeconds the time in seconds
+     * @param executeFunction the function to be called during execution; may not be null
+     * @param endFunction the function to be called when the command terminates; may be null
      * @param toString the function to be called when {@link Command#toString()} is called; may not be null
      * @param requirements the {@link Requirable}s for the command
      * @return the new command; never null
      */
-    protected static Command create(double timeoutInSeconds, BooleanSupplier executeFunction, Supplier<String> toString,
-            Requirable... requirements) {
+    protected static Command create(double timeoutInSeconds, BooleanSupplier executeFunction, Runnable endFunction,
+            Supplier<String> toString, Requirable... requirements) {
         return new Command(timeoutInSeconds, requirements) {
             @Override
             public boolean execute() {
                 return executeFunction.getAsBoolean();
             }
 
+            @Override
+            public void end() {
+                if (endFunction != null) endFunction.run();
+            }
+
             @Override
             public String toString() {
                 return toString.get();