diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index 45ef8b3..1024962 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -5,6 +5,8 @@ import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
 import org.usfirst.frc.team2059.robot.commands.LogEncoder;
 import org.usfirst.frc.team2059.robot.commands.MoveArm;
+import org.usfirst.frc.team2059.robot.commands.SetArmPosition;
+import org.usfirst.frc.team2059.robot.RobotMap;
 /**
  * This class is the glue that binds the controls on the physical operator
  * interface to the commands and command groups that allow control of the robot.
@@ -27,6 +29,10 @@ public class OI {
     joystickButtons[0][0].whenPressed(new LogEncoder());
     joystickButtons[1][0].whileHeld(new MoveArm(0.5));
     joystickButtons[1][1].whileHeld(new MoveArm(-0.5));
+    joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));
+    joystickButtons[1][3].whileHeld(new SetArmPosition(RobotMap.mainArmPresetTraverse));
+    joystickButtons[1][4].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCloseShot));
+    joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetFarShot));
   }
   public Joystick[] getJoysticks() {
     return joysticks;
diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index e350471..88916fd 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -26,8 +26,8 @@ public class RobotMap {
   public static int armStopSolenoidTwo = 5;
   //Misc
   public static int mainArmPresetCollect = 0;
-  public static int mainArmPresetTraverse = 5;
-  public static int mainArmPresetCloseShot = 95;
-  public static int mainArmPresetFarShot = 85;
+  public static int mainArmPresetTraverse = 11;
+  public static int mainArmPresetCloseShot = 90;
+  public static int mainArmPresetFarShot = 70;
 }
 // vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java b/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
new file mode 100644
index 0000000..035b038
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
@@ -0,0 +1,34 @@
+package org.usfirst.frc.team2059.robot.commands;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
+/**
+ *
+ */
+public class SetArmPosition extends CommandBase {
+  double pos;
+  public SetArmPosition(double p) {
+    requires(mainArm);
+    pos=p;
+  }
+  // Called just before this Command runs the first time
+  protected void initialize() {
+  }
+  // Called repeatedly when this Command is scheduled to run
+  protected void execute() {
+    mainArm.setSetpoint(pos);
+  }
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return false;
+  }
+  // Called once after isFinished returns true
+  protected void end() {
+    mainArm.setSetpoint(mainArm.getDegrees());
+  }
+  // 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 f0c212e..c075db6 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -11,7 +11,7 @@ public class MainArm extends PIDSubsystem {
   public MainArm(){
     super("MainArm",0.06,0.0,0.002);
     getPIDController().setContinuous(false);
-    //setSetpoint(15);
+    setSetpoint(15);
     enable();
   }
   public void initDefaultCommand() {