diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
index e75f4d9..b4543fa 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
@@ -50,8 +50,6 @@ public class Robot extends IterativeRobot
     private Command RLautonomousCommand;
     private Command LRautonomousCommand;
 	private Command LLautonomousCommand;
-	
-	public static final double OriginalDegreesWrist = arm.ENCODER_TICKS_TO_DEGREES;
 
     public void robotInit() 
     {
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
index e54cb2f..33e2628 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
@@ -42,6 +42,8 @@ public class Wrist extends Subsystem
   //Encoder ticks to inches for encoders
   public static final double ENCODER_TICKS_TO_INCHES = Constants.kArmEncoderTicksPerDegree;
   public static final double ENCODER_TICKS_TO_DEGREES = Constants.kWristEncoderTicksPerDegree * Math.PI;
+
+  public double WRIST_ANGLE_DEGREES = 0;
   
   // PID controller and params
 	private MPTalonPIDController mpController;
@@ -94,6 +96,8 @@ public class Wrist extends Subsystem
   {
     double armAngleToHoriz = 70;
     double initAngle = ENCODER_TICKS_TO_DEGREES - armAngleToHoriz;
+    
+    WRIST_ANGLE_DEGREES = initAngle;
   }
 
   //Method for setting the control mode for the wrist