diff --git a/RMFT2.cpp b/RMFT2.cpp
index 320d36f..4277f92 100644
--- a/RMFT2.cpp
+++ b/RMFT2.cpp
@@ -658,6 +658,14 @@ void RMFT2::loop2() {
       if (loco) DCC::setFn(loco,operand,false);
       break;
     
+    case OPCODE_DRIVE:
+      {
+        if (readSensor(operand)) break;
+        byte analogSpeed=IODevice::readAnalogue(GET_OPERAND(1)) *127 / 1024;
+        if (speedo!=analogSpeed) driveLoco(analogSpeed);
+        return; 
+      }    
+
     case OPCODE_XFON:      
       DCC::setFn(operand,GET_OPERAND(1),true);
       break;
diff --git a/RMFT2.h b/RMFT2.h
index 255fffd..6fed768 100644
--- a/RMFT2.h
+++ b/RMFT2.h
@@ -35,7 +35,7 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_IF,OPCODE_IFNOT,OPCODE_ENDIF,OPCODE_IFRANDOM,OPCODE_IFRESERVE,
              OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_RANDWAIT,
              OPCODE_FON,OPCODE_FOFF,OPCODE_XFON,OPCODE_XFOFF,
-             OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,
+             OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,OPCODE_DRIVE,
              OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,OPCODE_WAITFOR,
              OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN,
              OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,OPCODE_POM,
diff --git a/RMFTMacros.h b/RMFTMacros.h
index 899b56a..af0683c 100644
--- a/RMFTMacros.h
+++ b/RMFTMacros.h
@@ -63,6 +63,7 @@
 #define DEACTIVATE(addr,subaddr)
 #define ACTIVATEL(addr)
 #define DEACTIVATEL(addr)
+#define DRIVE(analogpin,stopper)
 #define AMBER(signal_id)
 #define AT(sensor_id)
 #define AUTOSTART
@@ -164,6 +165,7 @@ const int StringMacroTracker1=__COUNTER__;
 #undef AFTER
 #undef ACTIVATE
 #undef DEACTIVATE
+#undef DRIVE
 #undef ACTIVATEL
 #undef DEACTIVATEL
 #undef AMBER
@@ -253,7 +255,7 @@ const int StringMacroTracker1=__COUNTER__;
 #define DEACTIVATE(addr,subaddr) OPCODE_DCCACTIVATE,V(addr<<3 | subaddr<<1),
 #define ACTIVATEL(addr) OPCODE_DCCACTIVATE,V((addr+3)<<3 | 1),
 #define DEACTIVATEL(addr) OPCODE_DCCACTIVATE,V((addr+3)<<3),
-
+#define DRIVE(analogpin,stopper) OPCODE_DRIVE,V(stopper),OPCODE_PAD,V(analogpin),
 #define AFTER(sensor_id) OPCODE_AT,V(sensor_id),OPCODE_AFTER,V(sensor_id),
 #define AMBER(signal_id) OPCODE_AMBER,V(signal_id),
 #define AT(sensor_id) OPCODE_AT,V(sensor_id),