diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index f9c6527..ebb89ff 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -50,10 +50,12 @@ public class OI {
 //    joystickButtons[0][2].whileHeld(new PIDDrive(400));
     //joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));
     joystickButtons[1][0].whileHeld(new AlignVertical());
+    joystickButtons[1][1].whileHeld(new SetShooterState(true));
     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.mainArmPresetLowShot));
+    joystickButtons[1][5].whileHeld(new SpinRollers(1, false));
+//    joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetLowShot));
     joystickButtons[1][7].whileHeld(new MoveArm(1));
     joystickButtons[1][8].whileHeld(new MoveArm(-1));
   }
diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 98a2230..a4ecda0 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -9,9 +9,9 @@ public class RobotMap {
   public static int driveLeftEncoderB = 1;
   public static int gyro = 1;
   //Arm
-  public static double zeroDegrees = 1.469;
-  public static double ninetyDegrees = 3.274;
-  public static int armPot = 0;
+  public static double zeroDegrees = 1.28;
+  public static double ninetyDegrees = 3.1; 
+  public static int armPot = 3;
   public static int armLeftMotor = 5;
   public static int armRightMotor = 6;
   public static int armBottomLim = 4;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 04bbed3..f5aaa51 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -19,7 +19,8 @@ public class MainArm extends PIDSubsystem {
     super("MainArm", 0.06, 0.0, 0.002);
     getPIDController().setContinuous(false);
     setSetpoint(70);
-    enable();
+//    enable();
+    disable();
   }
   public void initDefaultCommand() {
   }