diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index 37a9763..45ef8b3 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -25,8 +25,8 @@ public class OI {
     }
     // Print log when button 1 pressed
     joystickButtons[0][0].whenPressed(new LogEncoder());
-    joystickButtons[1][0].whenPressed(new MoveArm(0.25));
-    joystickButtons[1][1].whenPressed(new MoveArm(-0.25));
+    joystickButtons[1][0].whileHeld(new MoveArm(0.5));
+    joystickButtons[1][1].whileHeld(new MoveArm(-0.5));
   }
   public Joystick[] getJoysticks() {
     return joysticks;
diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index 82fbf14..e2fc6c1 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -37,6 +37,8 @@ public class Robot extends IterativeRobot {
   }
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    SmartDashboard.putNumber("ArmAngleRaw",CommandBase.mainArm.getRaw()); 
+    SmartDashboard.putNumber("ArmAngleDegrees",CommandBase.mainArm.getDegrees()); 
   }
   public void testPeriodic() {
     LiveWindow.run();
diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index ece7714..e350471 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -8,8 +8,8 @@ public class RobotMap {
   public static int driveRightEncoder = 0;
   public static int driveLeftEncoder = 1;
   //Arm
-  public static double zeroDegrees = 0.1;
-  public static double ninetyDegrees = 0.7;
+  public static double zeroDegrees = 2.08;
+  public static double ninetyDegrees = 3.54;
   public static int armPot = 0;
   public static int armLeftMotor = 5;
   public static int armRightMotor = 6;
diff --git a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
index 9800578..e7bd8d5 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
@@ -4,9 +4,9 @@ import org.usfirst.frc.team2059.robot.subsystems.EncoderBase;
 import org.usfirst.frc.team2059.robot.subsystems.MainArm;
 import edu.wpi.first.wpilibj.command.Command;
 public abstract class CommandBase extends Command {
-  protected static EncoderBase encoderBase;
-  protected static DriveBase driveBase;
-  protected static MainArm mainArm;
+  public static EncoderBase encoderBase;
+  public static DriveBase driveBase;
+  public static MainArm mainArm;
   public static void init() {
     encoderBase = new EncoderBase();
     driveBase = new DriveBase();
diff --git a/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java b/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
index 9c5a0f7..5481bd5 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
@@ -16,17 +16,20 @@ public class MoveArm extends CommandBase {
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
     mainArm.moveArm(speed);
+    System.out.println(speed);
   }
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
-    return true;
+    return false;
   }
   // Called once after isFinished returns true
   protected void end() {
+    mainArm.moveArm(0);
   }
   // 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 54e9c9b..73ce303 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -1,17 +1,41 @@
 package org.usfirst.frc.team2059.robot.subsystems;
 import org.usfirst.frc.team2059.robot.RobotMap;
 import org.usfirst.frc.team2059.robot.commands.Drive;
-import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.CANTalon;
-public class MainArm extends Subsystem {
+import edu.wpi.first.wpilibj.AnalogInput;
+public class MainArm extends PIDSubsystem {
   CANTalon armMotorLeft = new CANTalon(RobotMap.armLeftMotor);
   CANTalon armMotorRight = new CANTalon(RobotMap.armRightMotor);
+  AnalogInput pot = new AnalogInput(RobotMap.armPot);
+  public MainArm(){
+    super("MainArm",0.0,0.0,0.0);
+    getPIDController().setContinuous(false);
+  }
   public void initDefaultCommand() {
-    setDefaultCommand(new Drive());
   }
   public void moveArm(double speed){
     armMotorLeft.set(speed);
     armMotorRight.set(-speed);
   }
+  protected double returnPIDInput(){
+    return pot.getAverageVoltage();
+  }
+  protected void usePIDOutput(double output){
+  }
+  public double getRaw(){
+    return pot.getAverageVoltage();
+  }
+  public double getDegrees(){
+    return potToDegrees(getRaw());
+  }
+  private double potToDegrees(double pot){
+    double min = RobotMap.zeroDegrees;
+    double max = RobotMap.ninetyDegrees;
+    double tmp = pot - max;
+    min = min - max;
+    max = max - max;
+    return 300 - ((tmp + max) / (300/min));
+  }
 }
 // vim: sw=2:ts=2:sts=2