diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index ebb89ff..a36501a 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -58,6 +58,7 @@ public class OI {
 //    joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetLowShot));
     joystickButtons[1][7].whileHeld(new MoveArm(1));
     joystickButtons[1][8].whileHeld(new MoveArm(-1));
+    joystickButtons[1][9].whileHeld(new SetArmPosition(110));
   }
   public Joystick[] getJoysticks() {
     return joysticks;
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/AlignVertical.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/AlignVertical.java
index cb9e407..d5eb0be 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/shooter/AlignVertical.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/AlignVertical.java
@@ -11,12 +11,11 @@ public class AlignVertical extends CommandBase {
   }
   // Called just before this Command runs the first time
   protected void initialize() {
-    mainArm.setSetpoint(mainArm.getShooterAngleError()+50);
-    mainArm.enable();
   }
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
-    //Move the arm stop
+    mainArm.setSetpoint(mainArm.getShooterAngleError()+50);
+    mainArm.enable();
   }
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java b/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java
index 6f81d4e..ff729f6 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java
@@ -8,7 +8,7 @@ public class AlignHorizontal extends CommandBase {
     error = visionHelper.getHorizontalError();
     driveBase.setDriveEnabled(false);
     driveBase.resetGyro();
-    mainArm.setSetpoint(90);
+    mainArm.setSetpoint(110);
     mainArm.enable();
   }
   protected boolean isFinished() {