diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index e33f3b2..d853678 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -8,7 +8,7 @@ void Lower::Execute(){
   DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Lower::IsFinished(){
-  return false;
+  return !DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM);
 }
 void Lower::End(){
   DentRobot::elevator->Run(0.0f);
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index ce1248f..8d556c5 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -9,7 +9,7 @@ void Raise::Execute(){
   DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Raise::IsFinished(){
-  return false;
+ return !DentRobot::dio->Get(DentRobot::dio->ELEVATORTOP);
 }
 void Raise::End(){
   DentRobot::elevator->Run(0.0f);
diff --git a/OI.cpp b/OI.cpp
index 4fc58f9..47a0a66 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -21,8 +21,8 @@ OI::OI() {
   left2->WhileHeld(new CloseCollector());
   left3->WhileHeld(new CollectTote());
   left4->WhileHeld(new ReleaseTote());
-  left5->WhileHeld(new Raise());
-  left6->WhileHeld(new Lower());
+  left5->WhenPressed(new Raise());
+  left6->WhenPressed(new Lower());
 }
 Joystick* OI::GetRightStick(){
   return rightStick;
diff --git a/Subsystems/DIO.cpp b/Subsystems/DIO.cpp
index 470bf3a..b845c3a 100644
--- a/Subsystems/DIO.cpp
+++ b/Subsystems/DIO.cpp
@@ -9,9 +9,11 @@ void DIO::InitDefaultCommand(){
 bool DIO::Get(e_dioSig dioSig){
   switch (dioSig){
     case ELEVATORTOP:
+        printf("Hit top limit switch\n");
         return elevatorTop->Get();
         break;
     case ELEVATORBOTTOM:
+        printf("Hit top bottom switch\n");
         return elevatorBottom->Get();
         break;
     default:
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index d32943b..2df51dc 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -10,6 +10,7 @@ Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
 void Elevator::InitDefaultCommand(){
 }
 void Elevator::Run(double power){
+  printf("Elevator Power: %f\n",power);
   motor->Set(power);
 }
 void Elevator::SetOffset(double ht){