diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 810eb06..ea4924e 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -10,6 +10,8 @@ public class RobotMap {
   //Arm
   public static double zeroDegrees = 2.019;
   public static double ninetyDegrees = 3.512;
+  public static int armBottomLim = 4;
+  public static int armTopLim = 5;
   public static int armPot = 0;
   public static int armLeftMotor = 5;
   public static int armRightMotor = 6;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index e2bae37..014de27 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -3,11 +3,15 @@ import org.usfirst.frc.team2059.robot.RobotMap;
 import org.usfirst.frc.team2059.robot.commands.Drive;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.AnalogInput;
 public class MainArm extends PIDSubsystem {
   CANTalon armMotorLeft = new CANTalon(RobotMap.armLeftMotor);
   CANTalon armMotorRight = new CANTalon(RobotMap.armRightMotor);
   AnalogInput pot = new AnalogInput(RobotMap.armPot);
+  DigitalInput limitSwitchBottom = new DigitalInput(RobotMap.armBottomLim);
+  DigitalInput limitSwitchTop = new DigitalInput(RobotMap.armTopLim);
+
   public MainArm() {
     super("MainArm", 0.06, 0.0, 0.002);
     getPIDController().setContinuous(false);
@@ -34,10 +38,19 @@ public class MainArm extends PIDSubsystem {
     return potToDegrees(getRaw());
   }
   private double potToDegrees(double pot) {
+	if (limitSwitchBottom.get()){
+		RobotMap.zeroDegrees = getRaw();
+		System.out.println("====Bottom Switch====\n" + getRaw());
+	} else if (limitSwitchTop.get()){
+		RobotMap.ninetyDegrees = getRaw();
+		System.out.println("====Top Switch====\n" + getRaw());
+
+	}
     double min = RobotMap.zeroDegrees;
     double max = RobotMap.ninetyDegrees;
     System.out.println((pot - min) / (Math.abs(min - max) / 90));
     return (pot - min) / (Math.abs(min - max) / 90);
   }
+  
 }
 // vim: sw=2:ts=2:sts=2