diff --git a/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java b/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java
index 0cbbb1b..e60f218 100644
--- a/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java
+++ b/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java
@@ -187,19 +187,19 @@ public void buildPaths() {
 
             pushSamples = follower.pathBuilder()
                     .addPath(new BezierCurve(new Point(preloadPose), new Point(16.088, 22.000, Point.CARTESIAN), new Point(57.345, 50.496, Point.CARTESIAN), new Point(56.000, 26.000, Point.CARTESIAN)))
-                    .setLinearHeadingInterpolation(Math.toRadians(180), Math.toRadians(0))
+                    .setLinearHeadingInterpolation(Math.toRadians(180), Math.toRadians(90))
                     .addPath(new BezierLine(new Point(56.000, 26.000, Point.CARTESIAN), new Point(24, 26.000, Point.CARTESIAN)))
-                    .setConstantHeadingInterpolation(Math.toRadians(0))
+                    .setConstantHeadingInterpolation(Math.toRadians(90))
                     .addPath(new BezierCurve(new Point(24, 26.000, Point.CARTESIAN), new Point(56.000, 26.000, Point.CARTESIAN), new Point(56.000, 16.000, Point.CARTESIAN)))
-                    .setConstantHeadingInterpolation(Math.toRadians(0))
+                    .setConstantHeadingInterpolation(Math.toRadians(90))
                     .addPath(new BezierLine(new Point(56.000, 16.000, Point.CARTESIAN),new Point(24, 16.000, Point.CARTESIAN)))
-                    .setConstantHeadingInterpolation(Math.toRadians(0))
+                    .setConstantHeadingInterpolation(Math.toRadians(90))
              //       .addPath(new BezierCurve(new Point(24, 16.000, Point.CARTESIAN), new Point(56.000, 16.000, Point.CARTESIAN), new Point(56.000, 9.50, Point.CARTESIAN)))
                //     .setConstantHeadingInterpolation(Math.toRadians(0))
               //      .addPath(new BezierLine(new Point(56.000, 9.50, Point.CARTESIAN), new Point(24, 9.5, Point.CARTESIAN)))
                 //    .setConstantHeadingInterpolation(Math.toRadians(0))
                     .addPath(new BezierLine(new Point(24, 16, Point.CARTESIAN), new Point(blueObservationSpecimenSetPose)))
-                    .setLinearHeadingInterpolation(Math.toRadians(0), blueObservationSpecimenSetPose.getHeading())
+                    .setLinearHeadingInterpolation(Math.toRadians(90), blueObservationSpecimenSetPose.getHeading())
                     .build();
 
             grab1 = follower.pathBuilder()
diff --git a/TeamCode/src/main/java/indubitables/config/subsystem/LiftSubsystem.java b/TeamCode/src/main/java/indubitables/config/subsystem/LiftSubsystem.java
index cb600f9..d9f370c 100644
--- a/TeamCode/src/main/java/indubitables/config/subsystem/LiftSubsystem.java
+++ b/TeamCode/src/main/java/indubitables/config/subsystem/LiftSubsystem.java
@@ -37,8 +37,7 @@ public LiftSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
         leftLift.setDirection(DcMotor.Direction.REVERSE);
         rightLift.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         leftLift.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        rightLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
 
         liftPID = new PIDController(p, i, d);
 
@@ -52,6 +51,9 @@ public LiftSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
 
     public void updatePIDF(){
         if (!manual) {
+            rightLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+            leftLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+
             double pid = liftPID.calculate(getPos(), target);
             double ticks_in_degrees = 537.7 / 360.0;
             double ff = Math.cos(Math.toRadians(target / ticks_in_degrees)) * f;
@@ -66,7 +68,8 @@ public void updatePIDF(){
     }
 
     public void manual(double n){
-        manual = true;
+        rightLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
         rightLift.setPower(n);
         leftLift.setPower(n);
diff --git a/TeamCode/src/main/java/indubitables/config/util/FieldConstants.java b/TeamCode/src/main/java/indubitables/config/util/FieldConstants.java
index 2f8593d..10296c5 100644
--- a/TeamCode/src/main/java/indubitables/config/util/FieldConstants.java
+++ b/TeamCode/src/main/java/indubitables/config/util/FieldConstants.java
@@ -41,8 +41,8 @@ public enum RobotStart {
     public static final Pose blueObservationElement3Pose = new Pose(20, 96, Math.toRadians(180));
     public static final Pose blueObservationElement3ControlPose = new Pose(20, 110);
     public static final Pose blueObservationSpecimenSetPose = new Pose(21, 25.5, Math.toRadians(0));
-    public static final Pose blueObservationSpecimenPickupPose = new Pose(16.5, 25.75, Math.toRadians(0));
-    public static final Pose blueObservationSpecimenPickup2Pose = new Pose(16.75, 25.5, Math.toRadians(0));
+    public static final Pose blueObservationSpecimenPickupPose = new Pose(17.25, 25.5, Math.toRadians(0));
+    public static final Pose blueObservationSpecimenPickup2Pose = new Pose(17.25, 25.5, Math.toRadians(0));
     public static final Pose blueObservationSpecimen1Pose = new Pose(28, 68.625, Math.toRadians(180));
     public static final Pose blueObservationSpecimen2Pose = new Pose(28.25, 71.625, Math.toRadians(180));
     public static final Pose blueObservationSpecimen3Pose = new Pose(30.25, 76.625, Math.toRadians(180));
diff --git a/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java b/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java
index a3d4702..33f6ef7 100644
--- a/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java
+++ b/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java
@@ -128,7 +128,7 @@ public void pathUpdate() {
                 if(pathTimer.getElapsedTimeSeconds() > 0.5) {
                     auto.init();
                     auto.liftPIDF = false;
-                    auto.liftManual = -0.25;
+                    auto.liftManual = -0.15;
                     setPathState(13); }
                 break;
             case 13: //Drives to chamber once action finishes
diff --git a/TeamCode/src/main/java/indubitables/opmode/pidTest.java b/TeamCode/src/main/java/indubitables/opmode/pidTest.java
index d98ae05..5497955 100644
--- a/TeamCode/src/main/java/indubitables/opmode/pidTest.java
+++ b/TeamCode/src/main/java/indubitables/opmode/pidTest.java
@@ -61,8 +61,6 @@ public void init() {
         rightLift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         rightLift.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         leftLift.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        rightLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
         bottom = getPos();
 
@@ -90,11 +88,17 @@ public void loop() {
         telemetry.addData("pos", getPos());
         telemetry.addData("baron", baron);
         telemetry.addData("target", target);
+        telemetry.addData("P:", p);
+        telemetry.addData("I:", i);
+        telemetry.addData("D:", d);
+        telemetry.addData("F:", f);
         telemetry.update();
     }
 
     public void updatePIDF(){
         if (!manual) {
+            rightLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+            leftLift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
             double pid = liftPID.calculate(getPos(), target);
             double ticks_in_degrees = 537.7 / 360.0;
             double ff = Math.cos(Math.toRadians(target / ticks_in_degrees)) * f;