diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index ecaca29..45ff3ce 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -45,7 +45,7 @@ public class OI {
     joystickButtons[1][2].whileHeld(new ResetLower(-1));
     joystickButtons[1][3].whileHeld(new SetArmPosition(RobotMap.mainArmPresetTraverse));
     joystickButtons[1][4].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCloseShot));
-    joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetFarShot));
+    joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetLowShot));
     joystickButtons[1][7].whileHeld(new SetArmStopState(true));
 //    joystickButtons[1][10].whileHeld(new ResetLower(-1));
 //    joystickButtons[1][11].whileHeld(new ResetUpper(1));
diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index c16ad14..c918e31 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -53,13 +53,18 @@ public class Robot extends IterativeRobot {
       autonomousCommand.cancel();
     }
     CommandBase.pneumatics.setCompressorEnabled(true);
-    CommandBase.pneumatics.setArmStopState(true);
+    CommandBase.pneumatics.setArmStopState(false);
   }
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
     SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
     SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
     SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
+    if (Robot.oi.getJoysticks()[1].getRawButton(3)){
+      CommandBase.pneumatics.setArmStopState(true);
+    } else {
+      CommandBase.pneumatics.setArmStopState(false);
+    }
     CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled"));
     System.out.println(CommandBase.mainArm.getDegrees());
   }
diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 2acb72d..011b69f 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -29,6 +29,7 @@ public class RobotMap {
   //Misc
   public static int mainArmPresetCollect = -5;
   public static int mainArmPresetTraverse = 10;
+  public static int mainArmPresetLowShot= 30;
   public static int mainArmPresetCloseShot = 90;
   public static int mainArmPresetFarShot = 70;
 }
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 04c03a3..83b9bd0 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -15,7 +15,7 @@ public class MainArm extends PIDSubsystem {
   private double min = RobotMap.zeroDegrees;
   private double max = RobotMap.ninetyDegrees;
   public MainArm() {
-    super("MainArm", 0.3, 0.0, 0.4);
+    super("MainArm", 0.07, 0.0, 0.00);
     getPIDController().setContinuous(false);
     setSetpoint(70);
     enable();