diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index 2fd1abf..524e8f4 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -34,7 +34,7 @@ public class OI {
     }
     // Print log when button 1 pressed
     //joystickButtons[0][0].whenPressed(new LogEncoder());
-    joystickButtons[0][1].whileHeld(new SetShooterState(true));
+    joystickButtons[0][0].whileHeld(new SetShooterState(true));
     joystickButtons[0][3].whileHeld(new SpinRollers(1));
 //    joystickButtons[0][2].whileHeld(new PIDDrive(400));
     joystickButtons[1][0].whileHeld(new MoveArm(1));
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
index f232f48..54ac0aa 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
@@ -5,6 +5,7 @@ import org.usfirst.frc.team2059.robot.Robot;
 public class RoutineDriveTime extends CommandGroup {
   public RoutineDriveTime() {
     addSequential(new AutoResetLower(-1));
+    addSequential(new AutoSetArmStopState(true));
     addSequential(new AutoDriveTime(2, .5));
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
index b95696d..0b83955 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
@@ -17,7 +17,7 @@ public class Drive extends CommandBase {
     double x = Robot.oi.getJoysticks()[0].getRawAxis(0);
     double y = Robot.oi.getJoysticks()[0].getRawAxis(1);
     double z = Robot.oi.getJoysticks()[0].getRawAxis(2);
-    if(Robot.oi.getJoysticks()[0].getRawButton(1)){
+    if(Robot.oi.getJoysticks()[0].getRawButton(2)){
       sensitivity = 1;
     }else{
       sensitivity = 0.5;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 849e3b6..3a7ae12 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -52,11 +52,9 @@ public class MainArm extends PIDSubsystem {
   }
   public void resetUpper(double speed) {
     if (getTopPressed()) {
-      System.out.println("PRESSDE");
       moveArm(0);
       return;
     } else {
-      System.out.println("not pressed");
       moveArm(speed);
     }
   }