diff --git a/src/main/java/frc/team3128/Constants.java b/src/main/java/frc/team3128/Constants.java
index 0c6f5f9..8e9b828 100644
--- a/src/main/java/frc/team3128/Constants.java
+++ b/src/main/java/frc/team3128/Constants.java
@@ -500,14 +500,14 @@ public static class WristConstants {
         public static final double kV = 0;
         public static final double kG = 0.22;
 
-        public static final double GEAR_RATIO = 3.0;
+        public static final double GEAR_RATIO = 90;
 
         public static final double ROTATION_TO_DEGREES = 360;
         
         public static final double ANGLE_OFFSET = 0; 
 
         public static final int MIN_ANGLE = -90;
-        public static final int MAX_ANGLE = 70;
+        public static final int MAX_ANGLE = 90;
 
         public static final double WRIST_TOLERANCE = 0.5;
 
@@ -519,11 +519,11 @@ public static class ManipulatorConstants{
         public static final int ROLLER_MOTOR_ID = 31;
         public static final double ROLLER_POWER = 0.9;
         public static final double STALL_POWER_CONE = 0.15;
-        public static final double STALL_POWER_CUBE = 0.0;
+        public static final double STALL_POWER_CUBE = 0.90;
 
 
-        public static final double CURRENT_THRESHOLD_CONE = 13;
-        public static final double CURRENT_THRESHOLD_CUBE = 9;
+        public static final double CURRENT_THRESHOLD_CONE = 15;
+        public static final double CURRENT_THRESHOLD_CUBE = 12;
     }
 
     public static class ElevatorConstants {
@@ -538,7 +538,7 @@ public static class ElevatorConstants {
         public static final double kV = 0;
         public static final double kG = 0.625;
 
-        public static final double MIN_DIST = 5; //Ask Charlie
+        public static final double MIN_DIST = 2; //Ask Charlie
         public static final double MAX_DIST = 55; //Ask Charlie
 
         public static final double GEAR_RATIO = 12.5;
diff --git a/src/main/java/frc/team3128/PositionConstants.java b/src/main/java/frc/team3128/PositionConstants.java
index 080b4df..5a002b0 100644
--- a/src/main/java/frc/team3128/PositionConstants.java
+++ b/src/main/java/frc/team3128/PositionConstants.java
@@ -2,19 +2,19 @@
 
 public class PositionConstants {
     public static enum Position {
-        HIGH_CONE(10, 45, true),
-        HIGH_CUBE(10, 45, false),
+        HIGH_CONE(53, -10, true),
+        HIGH_CUBE(50, 15, false),
         MID_CONE(10, 45, true),
-        MID_CUBE(10, 45, false),
-        LOW(10, 45, true),
+        MID_CUBE(25, 25, false),
+        LOW(3, 45, true),
 
         SHELF_CONE(10, 45, true),
         SHELF_CUBE(10, 45, false),
-        CHUTE_CONE(10, 45, true),
+        CHUTE_CONE(10, 55, true),
         CHUTE_CUBE(10, 45, false),
 
         GROUND_CONE(10, 45, true),
-        GROUND_CUBE(10, 45, false),
+        GROUND_CUBE(3, 0, false),
 
         NEUTRAL(5, 45, false);
 
diff --git a/src/main/java/frc/team3128/RobotContainer.java b/src/main/java/frc/team3128/RobotContainer.java
index 21a29a2..ff5f715 100644
--- a/src/main/java/frc/team3128/RobotContainer.java
+++ b/src/main/java/frc/team3128/RobotContainer.java
@@ -110,6 +110,14 @@ private void configureButtonBindings() {
         rightStick.getButton(3).onTrue(moveElv(-0.4)).onFalse(moveElv(0));
         rightStick.getButton(4).onTrue(moveElevator(30));
         rightStick.getButton(5).onTrue(resetElevator());
+        rightStick.getButton(6).onTrue(moveWri(0.4)).onFalse(moveWri(0));
+        rightStick.getButton(7).onTrue(moveWri(-0.4)).onFalse(moveWri(0));
+        rightStick.getButton(8).onTrue(moveWrist(30));
+        rightStick.getButton(9).onTrue(resetWrist());
+        rightStick.getButton(10).onTrue(intake(true));
+        rightStick.getButton(11).onTrue(intake(false));
+        rightStick.getButton(12).onTrue(outtake());
+        rightStick.getButton(13).onTrue(stopManip());
 
 
         buttonPad.getButton(5).onTrue(
diff --git a/src/main/java/frc/team3128/commands/CmdSwerveDrive.java b/src/main/java/frc/team3128/commands/CmdSwerveDrive.java
index 3d42133..5a84f29 100644
--- a/src/main/java/frc/team3128/commands/CmdSwerveDrive.java
+++ b/src/main/java/frc/team3128/commands/CmdSwerveDrive.java
@@ -48,7 +48,7 @@ public void execute() {
             translation = translation.rotateBy(Rotation2d.fromDegrees(-90));
         }
         
-        rotation = zAxis.getAsDouble() * maxAngularVelocity * swerve.throttle; 
+        rotation = -zAxis.getAsDouble() * maxAngularVelocity * swerve.throttle; 
 
         Rotation2d driveAngle = translation.getAngle();
         double slowedDist = accelLimiter.calculate(translation.getNorm());
diff --git a/src/main/java/frc/team3128/subsystems/Wrist.java b/src/main/java/frc/team3128/subsystems/Wrist.java
index cf156a9..575c1d5 100644
--- a/src/main/java/frc/team3128/subsystems/Wrist.java
+++ b/src/main/java/frc/team3128/subsystems/Wrist.java
@@ -43,7 +43,7 @@ private void configMotor() {
         m_wrist.setInverted(false);
         m_wrist.setIdleMode(IdleMode.kBrake);
         m_wrist.setSmartCurrentLimit(40);
-        resetEncoder();
+        // resetEncoder();
     }
 
     @Override
@@ -61,6 +61,7 @@ public void resetEncoder() {
     }
 
     public void set(double power) {
+        disable();
         m_wrist.set(power);
     }