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 4fc1133..02fda7b 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.buttons.*;
 import org.usfirst.frc4388.robot.subsystems.*;
 import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
 import org.usfirst.frc4388.robot.subsystems.Drive;
+import org.usfirst.frc4388.robot.subsystems.Wrist.WristControlMode;
 import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
 
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -59,7 +60,11 @@ public class OI
 	        
 	        JoystickButton shiftDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
 	        shiftDown.whenPressed(new DriveSpeedShift(false));
-	       // shiftDown.whenPressed(new LEDIndicators(false));
+		   // shiftDown.whenPressed(new LEDIndicators(false));
+		   
+		   //Wrist
+		   JoystickButton wristManualMode = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.A_BUTTON);
+		   wristManualMode.whenPressed(new WristSetMode(WristControlMode.JOYSTICK_MANUAL));
 	        
 	        
 	        //Operator Xbox
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 986c183..cee418a 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
@@ -86,15 +86,6 @@ public class Wrist extends Subsystem
 
     manualOverride = Robot.oi.getOperatorJoystick().getRawButton(XboxController.A_BUTTON);
 
-    if(manualOverride == true)
-    {
-      setWristControlMode(wristControlMode.JOYSTICK_MANUAL);
-    }
-    else if(manualOverride == false)
-    {
-      setWristControlMode(wristControlMode.PID);
-    }
-
     while(getWristControlMode() == wristControlMode.JOYSTICK_MANUAL)
     {
       wristRight.set(wristJoystickInput);
@@ -163,6 +154,45 @@ public class Wrist extends Subsystem
   {
 		wristRight.set(ControlMode.PercentOutput, speed);
 		setWristControlMode(wristControlMode.JOYSTICK_MANUAL);
+  }
+
+  //@Override
+  public void onLoop(double timestamp) 
+  {
+		synchronized (Wrist.this) {
+			switch(getWristControlMode() ) {
+				case PID: 
+					controlPidWithJoystick();
+					break;
+				case JOYSTICK_MANUAL:
+					controlManualWithJoystick();
+					break;
+				default:
+					break;
+			}
+		}
+  }
+  
+  private void controlPidWithJoystick() 
+  {
+    
+
+    ///CHANGE ACCORDING TO DIFFERENT LEVELS ON SPACESHIP
+    /*
+		//double joystickPosition = -Robot.oi.getOperatorController().getLeftYAxis();
+    //double deltaPosition = joystickPosition * joystickInchesPerMs;
+
+		targetPositionInchesPID = targetPositionInchesPID + deltaPosition;
+    updatePositionPID(targetPositionInchesPID);
+    */
+	}
+  
+  private void controlManualWithJoystick() 
+  {
+    double joystickSpeed;
+    
+    joystickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
+		setSpeedJoystick(joystickSpeed);
 	}
 
   public synchronized boolean isFinished()