diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index e2fc6c1..11a2942 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -15,6 +15,7 @@ public class Robot extends IterativeRobot {
     oi = new OI();
     chooser = new SendableChooser();
     SmartDashboard.putData("Auto mode", chooser);
+    SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController());
   }
   public void disabledInit() {
   }
@@ -39,6 +40,7 @@ public class Robot extends IterativeRobot {
     Scheduler.getInstance().run();
     SmartDashboard.putNumber("ArmAngleRaw",CommandBase.mainArm.getRaw()); 
     SmartDashboard.putNumber("ArmAngleDegrees",CommandBase.mainArm.getDegrees()); 
+    System.out.println(CommandBase.mainArm.getDegrees());
   }
   public void testPeriodic() {
     LiveWindow.run();
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 25d2f5b..f0c212e 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -9,19 +9,23 @@ public class MainArm extends PIDSubsystem {
   CANTalon armMotorRight = new CANTalon(RobotMap.armRightMotor);
   AnalogInput pot = new AnalogInput(RobotMap.armPot);
   public MainArm(){
-    super("MainArm",0.0,0.0,0.0);
+    super("MainArm",0.06,0.0,0.002);
     getPIDController().setContinuous(false);
+    //setSetpoint(15);
+    enable();
   }
   public void initDefaultCommand() {
   }
   public void moveArm(double speed){
-    armMotorLeft.set(speed);
-    armMotorRight.set(-speed);
+    armMotorLeft.set(-speed);
+    armMotorRight.set(speed);
   }
   protected double returnPIDInput(){
-    return pot.getAverageVoltage();
+    return getDegrees();
   }
   protected void usePIDOutput(double output){
+    armMotorLeft.set(-output);
+    armMotorRight.set(output);
   }
   public double getRaw(){
     return pot.getAverageVoltage();