diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
index 8cec3ba..87ffbc4 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -60,10 +60,11 @@ public class OI
 
 			JoystickButton liftHatchIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
 			liftHatchIntake.whenPressed(new LiftHatchDropBall());
-
+			//liftHatchIntake.toggleWhenActive(new DeployBallIntake());
 
 			JoystickButton liftBallIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
-			//liftBallIntake.whenPressed(new HatchFlip(false));
+			//liftBallIntake.toggleWhenActive(new HatchFlip(false));
+			//liftBallIntake.t
 			liftBallIntake.whenPressed(new LiftBallDropHatch());
 
 			JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
@@ -94,8 +95,11 @@ public class OI
 	        JoystickButton CloseIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
 			CloseIntake.whenPressed(new IntakePosition(false));
 			*/
-			JoystickButton lowheight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
-			lowheight.whenPressed(new GrabFromLoadingSatation());
+			JoystickButton lowHeight = new JoystickButton(m_operatorXbox.getJoyStick(),XboxController.LEFT_JOYSTICK_BUTTON);
+			lowHeight.whenPressed(new GrabFromLoadingSatation());
+
+			JoystickButton stow = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
+			stow.whenPressed(new StowArm());
 
 			SmartDashboard.putData("switch to manuel", new SetManual());
 			SmartDashboard.putData("run arm test", new ArmTest());
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/StowArm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/StowArm.java
index 209cac2..ed3813a 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/StowArm.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/StowArm.java
@@ -14,10 +14,10 @@ public class StowArm extends CommandGroup {
    * Add your docs here.
    */
   public StowArm() {
-    addSequential(new WristSetPositionPID(0), 1);
-    addParallel(new HatchFlip(false));
+    addSequential(new HatchFlip(false));
     addParallel(new WristPlacement(true));
-    addSequential(new ArmSetPositionMM(10));
+    addParallel(new WristSetPositionPID(200), 2);
+    addSequential(new ArmSetPositionMM(50));
     // Add Commands here:
     // e.g. addSequential(new Command1());
     // addSequential(new Command2());
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 3f08e1f..7114f97 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
@@ -87,7 +87,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	public static final double KF_DOWN = 0.0;
 	public static final double P_Value = 3;
 	public static final double I_Value = 0.001;
-	public static final double D_Value = 200;
+	public static final double D_Value = 250;
 	public static final double RampRate = 0.0;
 	private PIDParams wristPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN);	// KF gets updated later
 	public static final double PID_ERROR_INCHES = 150;