diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
index 8cecc76..603e19d 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
@@ -6,6 +6,7 @@ import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.Servo;
@@ -58,7 +59,9 @@ public class PhoenixBot1 {
 
     public Rev2mDistanceSensor collectorDistance, /*downSensor, */leftPoleDistance, rightPoleDistance;
 
-        public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, OdometerEncoderRight, OdometerEncoderLeft, OdometerEncoderHorizontal, ArmMotor;
+        public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, OdometerEncoderRight, OdometerEncoderLeft, OdometerEncoderHorizontal;
+
+        public DcMotorEx ArmMotor;
 
         public CRServo collectorLeft, collectorRight;
 
@@ -175,7 +178,7 @@ public class PhoenixBot1 {
             LowRiserRight = engine.hardwareMap.servo.get("LowRiserRight");
 //            HighRiserLeft = engine.hardwareMap.servo.get("HighRiserLeft");
 //            HighRiserRight = engine.hardwareMap.servo.get("HighRiserRight");
-            ArmMotor = engine.hardwareMap.dcMotor.get("ArmMotor");
+            ArmMotor = engine.hardwareMap.get(DcMotorEx.class, "ArmMotor");
 
             //motors direction and encoders
 
@@ -227,7 +230,7 @@ public class PhoenixBot1 {
 //            HighRiserRight.setDirection(Servo.Direction.FORWARD);
             LowRiserLeft.setDirection(Servo.Direction.FORWARD);
             LowRiserRight.setDirection(Servo.Direction.REVERSE);
-            ArmMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            ArmMotor.setDirection(DcMotorSimple.Direction.FORWARD);
             ArmMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
             ArmMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
             ArmMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java
index 8bda261..8cece68 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java
@@ -26,7 +26,7 @@ public class TeleOPArmDriver extends CyberarmState {
     private double servoHighLow = 0.8; //Low servos, Y button
 //    private double servoHighHigh = 0.9; //High servos, Y button
     private double ArmNeededPower;
-    private int armMotorCollect = 0;
+    private int armMotorCollect = -100;
     private int armMotorLow = 240;
     private int armMotorMed = 380;
     private int armMotorHigh = 463;
@@ -57,20 +57,53 @@ public class TeleOPArmDriver extends CyberarmState {
         robot.ArmMotor.setTargetPosition(0);
         robot.ArmMotor.setPower(0.5);
         robot.ArmMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        robot.ArmMotor.setTargetPositionTolerance(5);
+        armPower = 0.5;
 
         JunctionHeight = 0;
     }
 
 
 
-@Override
-public void exec() {
+    @Override
+    public void exec() {
+
+        double ratio = Math.abs(robot.ArmMotor.getCurrentPosition() - TargetPosition) / 400.0 + 0.1;
+
+
+//        ArmNeededPower =  Math.abs((robot.ArmMotor.getTargetPosition() - robot.ArmMotor.getCurrentPosition()) / 920) + 0.25;
+//        armPower = 0.5;
+        robot.ArmMotor.setTargetPosition(TargetPosition);
+        robot.ArmMotor.setPower(armPower);
+
+        if (engine.gamepad2.y) {
+            JunctionHeight = 4;
+            TargetPosition = armMotorHigh;
+        }
+        if (engine.gamepad2.b) {
+            JunctionHeight = 3;
+            TargetPosition = armMotorMed;
+        }
+        if (engine.gamepad2.x) {
+            JunctionHeight = 2;
+            TargetPosition = armMotorLow;
+            armPower = -0.5;
+        }
+        if (engine.gamepad2.a) {
+            armPower = 1;
+            JunctionHeight = 1;
+            TargetPosition = armMotorCollect;
+        }
+    }
+
+public void eexec() {
 
     double ratio = Math.abs(robot.ArmMotor.getCurrentPosition() - TargetPosition) / 400.0 + 0.1;
 
 
 //        ArmNeededPower =  Math.abs((robot.ArmMotor.getTargetPosition() - robot.ArmMotor.getCurrentPosition()) / 920) + 0.25;
-        armPower = ratio;
+        armPower = 0.5;
+        robot.ArmMotor.setTargetPosition(TargetPosition);
         robot.ArmMotor.setPower(armPower);
 
     if (engine.gamepad2.y) {
@@ -92,9 +125,9 @@ public void exec() {
 
     if (JunctionHeight == 4 && System.currentTimeMillis() - lastStepTime >= 100) {
         lastStepTime = System.currentTimeMillis();
-        robot.ArmMotor.setTargetPosition(armMotorHigh);
+
         if (robot.ArmMotor.getCurrentPosition() < armMotorHigh)/* <-- high level too low*/ {
-            robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() + ArmMotorStepSize);
+//            robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() + ArmMotorStepSize);
         }
         else if (robot.LowRiserLeft.getPosition() < servoHighLow && robot.ArmMotor.getCurrentPosition() >= armMotorLow)/* <-- low level too low*/ {
             robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
@@ -107,7 +140,6 @@ public void exec() {
     }
 
     if (JunctionHeight == 3) {
-        robot.ArmMotor.setTargetPosition(armMotorMed);
         if (robot.LowRiserLeft.getPosition() > servoMedLow + 5)/* <-- low level too high*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
@@ -126,14 +158,14 @@ public void exec() {
                 robot.ArmMotor.getCurrentPosition() > armMotorMed)/* <-- high level too high*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
-                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() - ArmMotorStepSize);
+//                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() - ArmMotorStepSize);
             }
         }
         else if (robot.LowRiserLeft.getPosition() < servoMedLow &&
                 robot.ArmMotor.getCurrentPosition() < armMotorMed)/* <-- high level too low*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
-                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() + ArmMotorStepSize);
+//                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() + ArmMotorStepSize);
             }
         }
         else if (robot.LowRiserLeft.getPosition() > servoMedLow - 5 &&
@@ -144,7 +176,7 @@ public void exec() {
     }
 
     if (JunctionHeight == 2) {
-        robot.ArmMotor.setTargetPosition(armMotorLow);
+
         if (robot.LowRiserLeft.getPosition() > servoLowLow + 5)/* <-- low level too high*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
@@ -164,14 +196,14 @@ public void exec() {
                 robot.ArmMotor.getCurrentPosition() > armMotorLow)/* <-- high level too high*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
-                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() - ArmMotorStepSize);
+//                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() - ArmMotorStepSize);
             }
         }
         else if (robot.LowRiserLeft.getPosition() <= servoLowLow &&
                 robot.ArmMotor.getCurrentPosition() < armMotorLow)/* <-- high level too low*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
-                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() + ArmMotorStepSize);
+//                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() + ArmMotorStepSize);
             }
         }
         else if (robot.LowRiserLeft.getPosition() > servoLowLow - 5 &&
@@ -182,7 +214,7 @@ public void exec() {
     }
 
     if (JunctionHeight == 1) {
-        robot.ArmMotor.setTargetPosition(armMotorCollect);
+        TargetPosition = armMotorCollect;
         if (robot.LowRiserLeft.getPosition() >= servoCollectLow)/* <-- low level too high*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
@@ -193,7 +225,7 @@ public void exec() {
                 robot.ArmMotor.getCurrentPosition() > armMotorCollect)/* <-- high level too high*/ {
             if (System.currentTimeMillis() - lastStepTime >= 100) {
                 lastStepTime = System.currentTimeMillis();
-                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() - ArmMotorStepSize);
+//                robot.ArmMotor.setTargetPosition(robot.ArmMotor.getCurrentPosition() - ArmMotorStepSize);
             }
         } else if (robot.LowRiserLeft.getPosition() <= servoCollectLow &&
                 robot.ArmMotor.getCurrentPosition() <= armMotorCollect) {