Shimano SPD-520, 540 for more dollars. I believe they are 6 degrees of float. The pedals and the cleats last for a long time. They are both dual sided, so, you do not have to flip the pedal to engage the cleats. I also have 2 sets of pedals that are SPD on one side, and the other side is flat. The ones I have are from the old Performance Bike Shop and are not available. Shimano and others make them also. SPD's do take a bit of time and practice to clipped in and, even more so, to unclip. Shimano has Spd cleats that can be disengaged from any angle, I do not remember the model number.