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 3c0342d..7b8cf7a 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -72,8 +72,8 @@ public class OI
 			safteySwitch.whenReleased(new setClimberSafety(false));
 
 			JoystickButton setArmPosMode = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
-			safteySwitch.whenPressed(new SetArmPositionMode(ArmPositionMode.CARGO));
-			safteySwitch.whenReleased(new SetArmPositionMode(ArmPositionMode.HATCH));
+			setArmPosMode.whenPressed(new SetArmPositionMode(ArmPositionMode.CARGO));
+			setArmPosMode.whenReleased(new SetArmPositionMode(ArmPositionMode.HATCH));
 
 			JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
 			JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
index 8ae755d..5dba782 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
@@ -337,23 +337,31 @@ public class Arm extends Subsystem implements ControlLoopable
 	private void controlPidWithDPad(int dPadAngle){
 		if (armPositionMode == ArmPositionMode.HATCH){
 			if (dPadAngle == DPAD_UP){
-				updatePositionPID(HATCH_HIGH_POSITION_WORLD);
+				//updatePositionPID(HATCH_HIGH_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "HUP");
 			} else if (dPadAngle == DPAD_RIGHT){
-				updatePositionPID(HATCH_MID_POSITION_WORLD);
+				//updatePositionPID(HATCH_MID_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "HRIGHT");
 			} else if (dPadAngle == DPAD_DOWN){
-				updatePositionPID(HATCH_LOW_POSITION_WORLD);
+				//updatePositionPID(HATCH_LOW_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "HDOWN");
 			} else if (dPadAngle == DPAD_LEFT){
 				//updatePositionPID(HATCH_PICKUP_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "HLEFT");
 			}
 		} else if (armPositionMode == ArmPositionMode.CARGO){
 			if (dPadAngle == DPAD_UP){
-				updatePositionPID(CARGO_HIGH_POSITION_WORLD);
+				//updatePositionPID(CARGO_HIGH_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "CUP");
 			} else if (dPadAngle == DPAD_RIGHT){
-				updatePositionPID(CARGO_MID_POSITION_WORLD);
+				//updatePositionPID(CARGO_MID_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "CRIGHT");
 			} else if (dPadAngle == DPAD_DOWN){
-				updatePositionPID(CARGO_LOW_POSITION_WORLD);
+				//updatePositionPID(CARGO_LOW_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "CDOWN");
 			} else if (dPadAngle == DPAD_LEFT){
 				//updatePositionPID(CARGO_PICKUP_POSITION_WORLD);
+				SmartDashboard.putString("DPAD", "CLEFT");
 			}
 		}
 	}