diff --git a/src/main/cpp/Gripper.cpp b/src/main/cpp/Gripper.cpp
index 329f3a9..74834b5 100644
--- a/src/main/cpp/Gripper.cpp
+++ b/src/main/cpp/Gripper.cpp
@@ -7,7 +7,7 @@ void Gripper::OnUpdate(units::second_t dt) {
 
   switch (_state) {
     case GripperState::kIdle:
-      voltage = 0_V;
+      voltage = 1_V;
       break;
 
     case GripperState::kIntaking:
diff --git a/src/main/cpp/behaviour/ArmavatorBehaviour.cpp b/src/main/cpp/behaviour/ArmavatorBehaviour.cpp
index 0704eb5..37464d2 100644
--- a/src/main/cpp/behaviour/ArmavatorBehaviour.cpp
+++ b/src/main/cpp/behaviour/ArmavatorBehaviour.cpp
@@ -106,14 +106,26 @@ void ArmavatorManualBehaviour::OnTick(units::second_t dt) {
         av.angleSpeed = -wom::spow2(wom::deadzone(_codriver.GetLeftY(), 0.1)) * (180_deg / 1_s);
         av.elevatorSpeed = -wom::spow2(wom::deadzone(_codriver.GetRightY(), 0.1)) * (2_m / 1_s);
 
-        
+        units::meter_t height = _armavator->GetCurrentPosition().height;
+        units::degree_t angle = _armavator->GetCurrentPosition().angle;
+        //bool above_height = true;
+        //sets hard limits in place, necessary to make the system not break itself (you will burn the neos out if they try to go past what they can)
+//        if (av.elevatorSpeed > _max_height) {
+//          _manualSetpoint.height = _max_height;
+//        } else if (_manualSetpoint.height < _min_height) {
+//          _manualSetpoint.height = _min_height;
+//        }
+//        else {
+//            av.elevatorSpeed = -wom::spow2(wom::deadzone(_codriver.GetRightY(), 0.1)) * (2_m / 1_s);
+//        }
+
         units::meter_t max_height = (1.7_m - 0.51_m) - _armavator->arm->GetConfig().armLength * units::math::sin(_manualSetpoint.angle);
         units::degree_t max_angle_front = units::math::acos(_armavator->GetCurrentPosition().height/_armavator->arm->GetConfig().armLength) + 10_deg - 120_deg;
         units::degree_t max_angle_back = 360_deg - units::math::acos(_armavator->GetCurrentPosition().height/_armavator->arm->GetConfig().armLength) - 5_deg - 50_deg;
 
         
-        units::meter_t height = _armavator->GetCurrentPosition().height;
-        units::degree_t angle = _armavator->GetCurrentPosition().angle; 
+        //units::meter_t height = _armavator->GetCurrentPosition().height;
+        //units::degree_t angle = _armavator->GetCurrentPosition().angle;
         
         frc::SmartDashboard::PutNumber("Max Angle Front: ", max_angle_front.value());
         frc::SmartDashboard::PutNumber("Max Angle Back: ", max_angle_back.value());
@@ -203,36 +215,95 @@ void ArmavatorManualBehaviour::OnTick(units::second_t dt) {
         units::meter_t height = _armavator->GetCurrentPosition().height;
         units::degree_t angle = _armavator->GetCurrentPosition().angle;
         _armavator->SetSpeedValues(0.5, 0.3);
-
+        //bool above_height = true;
         //sets hard limits in place, necessary to make the system not break itself (you will burn the neos out if they try to go past what they can)
         if (_manualSetpoint.height > _max_height) {
           _manualSetpoint.height = _max_height;
         } else if (_manualSetpoint.height < _min_height) {
           _manualSetpoint.height = _min_height;
-        } else {
-          _manualSetpoint.height -= (wom::deadzone(_codriver.GetRightY(), 0.2) * 1_m * 0.05); //slows the system down, otherwise it's wayyy too fast 
+        }
+        else {
+          _manualSetpoint.height -= (wom::deadzone(_codriver.GetRightY(), 0.2) * 1_m * 0.1); //slows the system down, otherwise it's wayyy too fast
         }
 
         if (_manualSetpoint.angle > _max_angle) {
           _manualSetpoint.angle = _max_angle;
         } else if (_manualSetpoint.angle < _min_angle) {
           _manualSetpoint.angle = _min_angle;
-        } else {
-          _manualSetpoint.angle -= (wom::deadzone(_codriver.GetLeftY(), 0.2) * 1_deg * 1);
+        }
+        else {
+          _manualSetpoint.angle -= (wom::deadzone(_codriver.GetLeftY(), 0.2) * 1_deg * 1.5);
         }
 
         //
+//          _manualSetpoint.height -= (wom::deadzone(_codriver.GetRightY(), 0.2) * 1_m * 0.05); //slows the system down, otherwise it's wayyy too fast
+//          _manualSetpoint.angle -= (wom::deadzone(_codriver.GetLeftY(), 0.2) * 1_deg * 1);
 
-        //some funky math which makes the armavator stay within extension limits 
-        units::meter_t max_height = (1.9_m - 0.51_m) - _armavator->arm->GetConfig().armLength * units::math::sin(_manualSetpoint.angle);
+        //some funky math which makes the armavator stay within extension limits
+        units::meter_t max_height = (1.6_m - 0.51_m) - _armavator->arm->GetConfig().armLength * units::math::sin(_manualSetpoint.angle);
         ArmavatorPosition sp{
           units::math::min(_manualSetpoint.height, max_height),
           _manualSetpoint.angle
         };
 
 
+        //units::meter_t max_height = (1.7_m - 0.51_m) - _armavator->arm->GetConfig().armLength * units::math::sin(_manualSetpoint.angle);
+        units::degree_t max_angle_front = units::math::acos(_armavator->GetCurrentPosition().height/_armavator->arm->GetConfig().armLength) + 10_deg - 120_deg;
+        units::degree_t max_angle_back = 360_deg - units::math::acos(_armavator->GetCurrentPosition().height/_armavator->arm->GetConfig().armLength) - 5_deg - 50_deg;
+
+
+        //units::meter_t height = _armavator->GetCurrentPosition().height;
+        //units::degree_t angle = _armavator->GetCurrentPosition().angle;
+
+        frc::SmartDashboard::PutNumber("Max Angle Front: ", max_angle_front.value());
+        frc::SmartDashboard::PutNumber("Max Angle Back: ", max_angle_back.value());
+        frc::SmartDashboard::PutNumber("Current Angle", angle.value());
+
+        frc::SmartDashboard::PutNumber("Height", height.value());
+        frc::SmartDashboard::PutNumber("Max Height", max_height.value());
+
+
+
+        if (height > 0.675_m) {
+          _armavator->SetPosition(sp);
+        }
+        else if (angle < max_angle_front) {
+          //_armavator->SetArmPosition(max_angle_front * (std::numbers::pi / 180));
+          if (sp.angle > max_angle_front) {
+            _armavator->SetPosition(sp);
+          }
+          else {
+            //sp.angle = max_angle_front / 60;
+            _manualSetpoint.angle = max_angle_front;
+            _armavator->SetPosition(sp);
+          }
+        }
+        else if (angle > max_angle_back) {
+          if (sp.angle < max_angle_back) {
+            _armavator->SetPosition(sp);
+          }
+          else {
+            _manualSetpoint.angle = max_angle_back;
+            _armavator->SetPosition(sp);
+          }
+
+        }
+
+        else {
+          //if (wom::deadzone(_codriver.GetLeftY(), 0.2)) {
+          //_manualSetpoint.angle -= (wom::deadzone(_codriver.GetLeftY(), 0.2) * 1_deg * 1);
+          //}
+          //if (wom::deadzone(_codriver.GetRightY(), 0.2)) {
+          //_manualSetpoint.height -= (wom::deadzone(_codriver.GetRightY(), 0.2) * 1_m * 0.05); //slows the system down, otherwise it's wayyy too fast
+          //}
+          _armavator->SetPosition(sp);
+
+          frc::SmartDashboard::PutNumber("Current Angle", _manualSetpoint.angle.value());
+          frc::SmartDashboard::PutNumber("Current Height", _manualSetpoint.height.value());
+
+
+        }
 
-        _armavator->SetPosition(sp);
 
         //print the values, REMOVE THESE BEFORE WARP, too many print out clog the system and can make the robot loose connection to the field
         std::cout << "set position height: " << _manualSetpoint.height.value() << std::endl;
diff --git a/src/main/cpp/behaviour/GripperBehaviour.cpp b/src/main/cpp/behaviour/GripperBehaviour.cpp
index e1b1839..77af29f 100644
--- a/src/main/cpp/behaviour/GripperBehaviour.cpp
+++ b/src/main/cpp/behaviour/GripperBehaviour.cpp
@@ -24,9 +24,9 @@ GripperBehaviour::GripperBehaviour(Gripper *gripper, frc::XboxController &codriv
 
 void GripperBehaviour::OnTick(units::second_t dt) {
   //setting the gripper mode
-  if (_codriver.GetRightTriggerAxis() > 0.2) {
-    gripper->SetOutaking(_codriver.GetRightTriggerAxis());
-  } else if (_codriver.GetLeftTriggerAxis() > 0.2) {
+  if (_codriver.GetLeftTriggerAxis() > 0.2) {
+    gripper->SetOutaking(_codriver.GetLeftTriggerAxis());
+  } else if (_codriver.GetRightTriggerAxis() > 0.2) {
     gripper->SetIntaking();
   } else {
     gripper->SetIdle();