diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
index 484d057..06b7fa9 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
@@ -18,7 +18,7 @@ public class RedCrabMinibot {
     public static final int ClawArm_COLLECT = 2;
 
     /// TUNING CONSTANTS ///
-    public static final double DRIVETRAIN_MAX_SPEED = 0.5;
+    public static final double DRIVETRAIN_MAX_SPEED = 1.0;
     public static final double CLAW_ARM_MAX_SPEED = 0.5;
     public static final double WINCH_MAX_SPEED = 0.5;
     public static final double CLAW_ARM_STOW_ANGLE = 0.0;
@@ -38,8 +38,8 @@ public class RedCrabMinibot {
     public static final double DRONE_LATCH_LAUNCH_POSITION = 0.5;
     public static final int DRONE_LAUNCH_CONFIRMATION_TIME_MS = 1_000;
 
-    public static final double HOOK_ARM_STOW_POSITION = 0.0;
-    public static final double HOOK_ARM_UP_POSITION = 0.5;
+    public static final double HOOK_ARM_STOW_POSITION = 0.8; // just off of airplane 0.8
+    public static final double HOOK_ARM_UP_POSITION = 0.4; // streight up4.0
 
     /// MOTOR CONSTANTS ///
     public static final int CLAW_ARM_MOTOR_TICKS_PER_REVOLUTION = 4;
@@ -78,10 +78,10 @@ public class RedCrabMinibot {
         backRight.resetEncoder();
 
         /// --- MOTOR DIRECTIONS
-        frontLeft.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
-        frontRight.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
-        backLeft.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
-        backRight.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
+        frontLeft.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
+        frontRight.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
+        backLeft.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
+        backRight.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
 
         /// --- MOTOR BRAKING MODE
         /// --- NOTE: Having BRAKE mode set for drivetrain helps with consistently of control
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
index 0d086cb..7eaa9f5 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
@@ -27,10 +27,10 @@ public class Pilot extends CyberarmState {
     public void exec() {
         drivetrain();
 
-//        clawArmAndWristController();
+        clawArmAndWristController();
 //        clawController();
 //        droneLatchController();
-//        hookArmController();
+//        hookArmController(); // disabled for swrist debug
 //        winchController();
     }
 
@@ -149,7 +149,7 @@ public class Pilot extends CyberarmState {
 
         }
 
-        robot.clawArm.set(RedCrabMinibot.CLAW_ARM_MAX_SPEED);
+        robot.clawArm.set(RedCrabMinibot.  CLAW_ARM_MAX_SPEED);
     }
 
     private void clawController() {
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index aa991fc..8da469e 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,6 @@
+#Mon Dec 04 18:52:45 CST 2023
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists