diff --git a/include/pinproc.h b/include/pinproc.h
index 8bcbfd7..99e2c62 100644
--- a/include/pinproc.h
+++ b/include/pinproc.h
@@ -204,6 +204,7 @@ typedef struct PRDriverState {
     uint8_t patterOnTime;
     uint8_t patterOffTime;
     bool_t patterEnable;
+    bool_t futureEnable;
 } PRDriverState;
 
 typedef struct PRDriverAuxCommand {
@@ -256,6 +257,11 @@ PINPROC_API PRResult PRDriverDisable(PRHandle handle, uint8_t driverNum);
  * This function is provided for convenience.  See PRDriverStatePulse() for a full description.
  */
 PINPROC_API PRResult PRDriverPulse(PRHandle handle, uint8_t driverNum, uint8_t milliseconds);
+/**
+ * Pulses the given driver for a number of milliseconds when the hardware reaches a specific timestamp.
+ * This function is provided for convenience.  See PRDriverStatePulse() for a full description.
+ */
+PINPROC_API PRResult PRDriverFuturePulse(PRHandle handle, uint8_t driverNum, uint8_t milliseconds, uint32_t futureTime);
 /**
  * Assigns a repeating schedule to the given driver.
  * This function is provided for convenience.  See PRDriverStateSchedule() for a full description.
@@ -316,6 +322,13 @@ PINPROC_API void PRDriverStateDisable(PRDriverState *driverState);
  * @note The driver state structure must be applied using PRDriverUpdateState() or linked to a switch rule using PRSwitchUpdateRule() to have any effect.
  */
 PINPROC_API void PRDriverStatePulse(PRDriverState *driverState, uint8_t milliseconds);
+/**
+ * Changes the given #PRDriverState to reflect a future scheduled pulse state.
+ * @param milliseconds Number of milliseconds to pulse the driver for.
+ * @param futureTime Value indicating at which HW timestamp the pulse should occur.  Currently only the low 10-bits are used.
+ * @note The driver state structure must be applied using PRDriverUpdateState() or linked to a switch rule using PRSwitchUpdateRule() to have any effect.
+ */
+PINPROC_API void PRDriverStateFuturePulse(PRDriverState *driverState, uint8_t milliseconds, uint32_t futureTime);
 /**
  * Changes the given #PRDriverState to reflect a scheduled state.
  * Assigns a repeating schedule to the given driver.
diff --git a/src/PRHardware.cpp b/src/PRHardware.cpp
index 3860175..2f2885b 100644
--- a/src/PRHardware.cpp
+++ b/src/PRHardware.cpp
@@ -142,7 +142,8 @@ int32_t CreateDriverUpdateBurst ( uint32_t * burst, PRDriverState *driver) {
     burst[2] = (driver->timeslots >> P_ROC_DRIVER_CONFIG_TIMESLOT_SHIFT) |
     (driver->patterOnTime << P_ROC_DRIVER_CONFIG_PATTER_ON_TIME_SHIFT) |
     (driver->patterOffTime << P_ROC_DRIVER_CONFIG_PATTER_OFF_TIME_SHIFT) |
-    (driver->patterEnable << P_ROC_DRIVER_CONFIG_PATTER_ENABLE_SHIFT);
+    (driver->patterEnable << P_ROC_DRIVER_CONFIG_PATTER_ENABLE_SHIFT) |
+    (driver->futureEnable << P_ROC_DRIVER_CONFIG_FUTURE_ENABLE_SHIFT);
     return kPRSuccess;
 }
 
diff --git a/src/PRHardware.h b/src/PRHardware.h
index 616977e..6f18698 100644
--- a/src/PRHardware.h
+++ b/src/PRHardware.h
@@ -178,6 +178,7 @@ const uint32_t P_ROC_DRIVER_CONFIG_TIMESLOT_SHIFT                    = 16;
 const uint32_t P_ROC_DRIVER_CONFIG_PATTER_ON_TIME_SHIFT              = 16;
 const uint32_t P_ROC_DRIVER_CONFIG_PATTER_OFF_TIME_SHIFT             = 23;
 const uint32_t P_ROC_DRIVER_CONFIG_PATTER_ENABLE_SHIFT               = 30;
+const uint32_t P_ROC_DRIVER_CONFIG_FUTURE_ENABLE_SHIFT               = 31;
 
 const uint32_t P_ROC_DRIVER_CONFIG_TABLE_DRIVER_NUM_SHIFT = 1;
 
diff --git a/src/pinproc.cpp b/src/pinproc.cpp
index dc092ad..3cd153d 100644
--- a/src/pinproc.cpp
+++ b/src/pinproc.cpp
@@ -193,6 +193,13 @@ PRResult PRDriverPulse(PRHandle handle, uint8_t driverNum, uint8_t milliseconds)
     PRDriverStatePulse(&driver, milliseconds);
     return handleAsDevice->DriverUpdateState(&driver);
 }
+PRResult PRDriverFuturePulse(PRHandle handle, uint8_t driverNum, uint8_t milliseconds, uint32_t futureTime)
+{
+    PRDriverState driver;
+    handleAsDevice->DriverGetState(driverNum, &driver);
+    PRDriverStateFuturePulse(&driver, milliseconds, futureTime);
+    return handleAsDevice->DriverUpdateState(&driver);
+}
 PRResult PRDriverSchedule(PRHandle handle, uint8_t driverNum, uint32_t schedule, uint8_t cycleSeconds, bool_t now)
 {
     PRDriverState driver;
@@ -279,6 +286,7 @@ void PRDriverStateDisable(PRDriverState *driver)
     driver->patterOnTime = 0;
     driver->patterOffTime = 0;
     driver->patterEnable = false;
+    driver->futureEnable = false;
 }
 void PRDriverStatePulse(PRDriverState *driver, uint8_t milliseconds)
 {
@@ -289,6 +297,18 @@ void PRDriverStatePulse(PRDriverState *driver, uint8_t milliseconds)
     driver->patterOnTime = 0;
     driver->patterOffTime = 0;
     driver->patterEnable = false;
+    driver->futureEnable = false;
+}
+void PRDriverStateFuturePulse(PRDriverState *driver, uint8_t milliseconds, uint32_t futureTime)
+{
+    driver->state = 1;
+    driver->timeslots = futureTime;
+    driver->waitForFirstTimeSlot = false;
+    driver->outputDriveTime = milliseconds;
+    driver->patterOnTime = 0;
+    driver->patterOffTime = 0;
+    driver->patterEnable = false;
+    driver->futureEnable = true;
 }
 void PRDriverStateSchedule(PRDriverState *driver, uint32_t schedule, uint8_t cycleSeconds, bool_t now)
 {
@@ -299,6 +319,7 @@ void PRDriverStateSchedule(PRDriverState *driver, uint32_t schedule, uint8_t cyc
     driver->patterOnTime = 0;
     driver->patterOffTime = 0;
     driver->patterEnable = false;
+    driver->futureEnable = false;
 }
 void PRDriverStatePatter(PRDriverState *driver, uint8_t millisecondsOn, uint8_t millisecondsOff, uint8_t originalOnTime)
 {
@@ -309,6 +330,7 @@ void PRDriverStatePatter(PRDriverState *driver, uint8_t millisecondsOn, uint8_t
     driver->patterOnTime = millisecondsOn;
     driver->patterOffTime = millisecondsOff;
     driver->patterEnable = true;
+    driver->futureEnable = false;
 }
 
 void PRDriverStatePulsedPatter(PRDriverState *driver, uint8_t millisecondsOn, uint8_t millisecondsOff, uint8_t patterTime)
@@ -320,6 +342,7 @@ void PRDriverStatePulsedPatter(PRDriverState *driver, uint8_t millisecondsOn, ui
     driver->patterOnTime = millisecondsOn;
     driver->patterOffTime = millisecondsOff;
     driver->patterEnable = true;
+    driver->futureEnable = false;
 }
 
 uint16_t PRDecode(PRMachineType machineType, const char *str)