diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index 524e8f4..ecaca29 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -35,11 +35,14 @@ public class OI {
     // Print log when button 1 pressed
     //joystickButtons[0][0].whenPressed(new LogEncoder());
     joystickButtons[0][0].whileHeld(new SetShooterState(true));
-    joystickButtons[0][3].whileHeld(new SpinRollers(1));
+    joystickButtons[0][2].whileHeld(new SpinRollers(-0.5,false));
+    joystickButtons[0][3].whileHeld(new SpinRollers(1,false));
+    joystickButtons[0][6].whileHeld(new SpinRollers(1,true));
 //    joystickButtons[0][2].whileHeld(new PIDDrive(400));
     joystickButtons[1][0].whileHeld(new MoveArm(1));
     joystickButtons[1][1].whileHeld(new MoveArm(-1));
-    joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));
+    //joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));
+    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));
diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index ec33e89..c16ad14 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -2,6 +2,7 @@ package org.usfirst.frc.team2059.robot;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.commands.autonomous.*;
 import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
@@ -11,18 +12,22 @@ public class Robot extends IterativeRobot {
   public static OI oi;
   Command autonomousCommand;
   SendableChooser chooser;
+  CameraServer cameraServer;
   public void robotInit() {
     CommandBase.init();
     oi = new OI();
     chooser = new SendableChooser();
-    chooser.addDefault("Time based drive", new RoutineDriveTime());
+    cameraServer = CameraServer.getInstance();
+    cameraServer.setQuality(50);
+    cameraServer.startAutomaticCapture("cam0");
+    chooser.addDefault("Time based low bar", new RoutineDriveTime());
     chooser.addObject("Time based defense", new RoutineDefenseTime());
     SmartDashboard.putData("Auto mode", chooser);
     SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
     SmartDashboard.putData("LeftEncoderController", CommandBase.driveBase.getLeftController());
     SmartDashboard.putBoolean("CompressorEnabled", true);
     //Automatically determine if rolling in or rolling out
-    SmartDashboard.putBoolean("SmartRollers", true);
+    SmartDashboard.putBoolean("SmartRollers", false);
     //Use the limit swithces on the shooter
     SmartDashboard.putBoolean("UseLimitSwitches", true);
   }
diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index b1791cb..2acb72d 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -28,7 +28,7 @@ public class RobotMap {
   public static int armStopSolenoidTwo = 5;
   //Misc
   public static int mainArmPresetCollect = -5;
-  public static int mainArmPresetTraverse = 11;
+  public static int mainArmPresetTraverse = 10;
   public static int mainArmPresetCloseShot = 90;
   public static int mainArmPresetFarShot = 70;
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveTime.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveTime.java
index 6323183..ec8ce4a 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveTime.java
@@ -11,7 +11,7 @@ public class AutoDriveTime extends CommandBase {
   protected void initialize() {
   }
   protected void execute() {
-    driveBase.driveArcade(0, -power, 0, 0);
+    driveBase.driveArcade(0, -power, 0, 1);
   }
   protected void end() {
     driveBase.stopDriving();
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
index 6d65c8e..cc0833d 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
@@ -4,11 +4,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 import org.usfirst.frc.team2059.robot.Robot;
 public class RoutineDefenseTime extends CommandGroup {
   public RoutineDefenseTime() {
-    addSequential(new AutoSetArmStopState(true));
-    addSequential(new AutoResetLower(-1));
-    addSequential(new AutoSetArmPosition(15));
     addSequential(new AutoSetArmStopState(false));
-    addSequential(new AutoSetArmPosition(11));
-//      addSequential(new AutoDriveTime(2,.5));
+    addSequential(new AutoSetArmPosition(10));
+    addSequential(new AutoDriveTime(2, .5));
   }
 }
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 54ac0aa..99711d6 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
@@ -4,8 +4,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 import org.usfirst.frc.team2059.robot.Robot;
 public class RoutineDriveTime extends CommandGroup {
   public RoutineDriveTime() {
-    addSequential(new AutoResetLower(-1));
     addSequential(new AutoSetArmStopState(true));
+    addSequential(new AutoResetLower(-1));
     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 1988660..df609d1 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(2)) {
+    if (Robot.oi.getJoysticks()[0].getRawButton(2) || Robot.oi.getJoysticks()[0].getRawButton(11)) {
       sensitivity = 1;
     } else {
       sensitivity = 0.5;
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetLower.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetLower.java
index e6a982e..3029439 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetLower.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/ResetLower.java
@@ -15,7 +15,6 @@ public class ResetLower extends CommandBase {
   }
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
-    System.out.println("test");
     mainArm.disable();
     mainArm.resetLower(speed);
   }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmPosition.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmPosition.java
index 7a1e386..294365a 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmPosition.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmPosition.java
@@ -17,11 +17,6 @@ public class SetArmPosition extends CommandBase {
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
     //Move the arm stop
-    if (pos == RobotMap.mainArmPresetCollect) {
-      pneumatics.setArmStopState(true);
-    } else if ((pos != RobotMap.mainArmPresetCollect) && (mainArm.getDegrees() > 2)) {
-      pneumatics.setArmStopState(false);
-    }
     mainArm.enable();
     mainArm.setSetpoint(pos);
   }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/SpinRollers.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/SpinRollers.java
index 5731589..0d275c1 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/shooter/SpinRollers.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/SpinRollers.java
@@ -7,15 +7,17 @@ import org.usfirst.frc.team2059.robot.Robot;
  */
 public class SpinRollers extends CommandBase {
   double speed;
-  public SpinRollers(double s) {
+  boolean smartrollers;
+  public SpinRollers(double s, boolean sr) {
     speed = s;
+    smartrollers = sr;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
   }
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
-    if (SmartDashboard.getBoolean("SmartRollers") && mainArm.getDegrees() < 5) {
+    if (smartrollers && (mainArm.getDegrees() < 5 || mainArm.getBottomPressed())) {
       shooter.shootAtSpeed(-.5);
     } else {
       shooter.shootAtSpeed(speed);
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 3a7ae12..04c03a3 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -17,6 +17,7 @@ public class MainArm extends PIDSubsystem {
   public MainArm() {
     super("MainArm", 0.3, 0.0, 0.4);
     getPIDController().setContinuous(false);
+    setSetpoint(70);
     enable();
   }
   public void initDefaultCommand() {