diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index ed7da9b..d875e9d 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -6,6 +6,8 @@ import edu.wpi.first.wpilibj.buttons.JoystickButton;
 import org.usfirst.frc.team2059.robot.commands.drivetrain.LogEncoder;
 import org.usfirst.frc.team2059.robot.commands.drivetrain.PIDDrive;
 import org.usfirst.frc.team2059.robot.commands.shooter.MoveArm;
+import org.usfirst.frc.team2059.robot.commands.shooter.ResetLower;
+import org.usfirst.frc.team2059.robot.commands.shooter.ResetUpper;
 import org.usfirst.frc.team2059.robot.commands.shooter.SetArmPosition;
 import org.usfirst.frc.team2059.robot.commands.shooter.SetShooterState;
 import org.usfirst.frc.team2059.robot.commands.shooter.SetArmStopState;
@@ -42,6 +44,8 @@ public class OI {
     joystickButtons[1][4].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCloseShot));
     joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetFarShot));
     joystickButtons[1][7].whileHeld(new SetArmStopState(true));
+    joystickButtons[1][10].whileHeld(new ResetLower(-1));
+    joystickButtons[1][11].whileHeld(new ResetUpper(1));
   }
   public Joystick[] getJoysticks() {
     return joysticks;
diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index 3fc9394..c84f040 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -40,7 +40,7 @@ public class Robot extends IterativeRobot {
       autonomousCommand.cancel();
     }
     CommandBase.pneumatics.setCompressorEnabled(true);
-    CommandBase.pneumatics.setArmStopState(false);
+    CommandBase.pneumatics.setArmStopState(true);
   }
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 810eb06..0a281fc 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -13,6 +13,8 @@ public class RobotMap {
   public static int armPot = 0;
   public static int armLeftMotor = 5;
   public static int armRightMotor = 6;
+  public static int armBottomLim = 4;
+  public static int armTopLim = 5;
   //Shooter
   public static int shooterLeftMotor = 7;
   public static int shooterRightMotor = 8;
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetLower.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetLower.java
new file mode 100644
index 0000000..4a709c7
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetLower.java
@@ -0,0 +1,36 @@
+package org.usfirst.frc.team2059.robot.commands.shooter;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
+/**
+ *
+ */
+public class ResetLower extends CommandBase {
+  double speed;
+  public ResetLower(double s) {
+    requires(mainArm);
+    speed = s;
+  }
+  // Called just before this Command runs the first time
+  protected void initialize() {
+  }
+  // Called repeatedly when this Command is scheduled to run
+  protected void execute() {
+    System.out.println("test");
+    mainArm.disable();
+    mainArm.resetLower(speed);
+  }
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return mainArm.getBottomPressed();
+  }
+  // Called once after isFinished returns true
+  protected void end() {
+    mainArm.moveArm(0);
+  }
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  protected void interrupted() {
+    end();
+  }
+}
+// vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetUpper.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetUpper.java
new file mode 100644
index 0000000..3c15919
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetUpper.java
@@ -0,0 +1,36 @@
+package org.usfirst.frc.team2059.robot.commands.shooter;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
+/**
+ *
+ */
+public class ResetUpper extends CommandBase {
+  double speed;
+  public ResetUpper(double s) {
+    requires(mainArm);
+    speed = s;
+  }
+  // Called just before this Command runs the first time
+  protected void initialize() {
+  }
+  // Called repeatedly when this Command is scheduled to run
+  protected void execute() {
+    System.out.println("testUpper");
+    mainArm.disable();
+    mainArm.resetUpper(speed);
+  }
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return mainArm.getTopPressed();
+  }
+  // Called once after isFinished returns true
+  protected void end() {
+    mainArm.moveArm(0);
+  }
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  protected void interrupted() {
+    end();
+  }
+}
+// vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index a71ef9f..7a19462 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -4,14 +4,18 @@ import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.DigitalInput;
 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);
+  private double min = RobotMap.zeroDegrees;
+  private double max = RobotMap.ninetyDegrees;
   public MainArm() {
     super("MainArm", 0.06, 0.0, 0.002);
     getPIDController().setContinuous(false);
-    setSetpoint(RobotMap.mainArmPresetTraverse);
     enable();
   }
   public void initDefaultCommand() {
@@ -33,9 +37,41 @@ public class MainArm extends PIDSubsystem {
   public double getDegrees() {
     return potToDegrees(getRaw());
   }
+
+  public void resetLower(double speed){
+    if(!limitSwitchBottom.get()){
+      System.out.println("PRESSDE");
+      moveArm(0);
+      return;
+    }else{
+      System.out.println("not pressed");
+      moveArm(speed);
+    }
+  }
+  public boolean getBottomPressed(){
+    return !limitSwitchBottom.get();
+  }
+
+  public void resetUpper(double speed){
+    if(!limitSwitchTop.get()){
+      System.out.println("PRESSDE");
+      moveArm(0);
+      return;
+    }else{
+      System.out.println("not pressed");
+      moveArm(speed);
+    }
+  }
+  public boolean getTopPressed(){
+    return !limitSwitchTop.get();
+  }
   private double potToDegrees(double pot) {
-    double min = RobotMap.zeroDegrees;
-    double max = RobotMap.ninetyDegrees;
+    if(!limitSwitchBottom.get()){
+      System.out.println("got");
+      min = getRaw();
+    }else if(!limitSwitchTop.get()){
+      max = getRaw();
+    }
     System.out.println((pot - min) / (Math.abs(min - max) / 90));
     return (pot - min) / (Math.abs(min - max) / 90);
   }