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 cce1adc..2f753df 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
@@ -53,9 +53,15 @@ public class Wrist extends Subsystem
 	public static final double KF_UP = 0.005;
 	public static final double KF_DOWN = 0.0;
   public static final double PID_ERROR_INCHES = 1.0;
+
+  // Defined positions
+	public static final double MIN_POSITION_INCHES = 0.0;
+	public static final double MAX_POSITION_INCHES = 83.4;
   
   //Misc
   private WristControlMode wristControlMode = WristControlMode.JOYSTICK_MANUAL;
+  private boolean isFinished;
+  private double targetPositionInchesPID = 0;
   
   public Wrist()
   {
@@ -104,13 +110,34 @@ public class Wrist extends Subsystem
 		updatePositionPID(targetPositionInches);
 		setWristControlMode(WristControlMode.PID);	
 		setFinished(false);
+  }
+  
+  private double limitPosition(double targetPosition) {
+		if (targetPosition < MIN_POSITION_INCHES) {
+			return MIN_POSITION_INCHES;
+		}
+		else if (targetPosition > MAX_POSITION_INCHES) {
+			return MAX_POSITION_INCHES;
+		}
+		
+		return targetPosition;
 	}
 	
   public void updatePositionPID(double targetPositionInches) 
   {
  		targetPositionInchesPID = limitPosition(targetPositionInches);
-		double startPositionInches = motor1.getPositionWorld();
+		double startPositionInches = wristRight.getPositionWorld();
 		mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN); 
+  }
+
+  public synchronized boolean isFinished() 
+  {
+		return isFinished;
+	}
+  
+  public synchronized void setFinished(boolean isFinished) 
+  {
+		this.isFinished = isFinished;
 	}
 
   @Override
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java b/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java
index 52088f7..290820d 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java
@@ -5,6 +5,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 public class CANTalonEncoder extends WPI_TalonSRX
 {
+	public static int TIMEOUT_MS = 0;
+
 	private double encoderTicksToWorld;
 	private boolean isRight = true;
 	
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/utility/MPTalonPIDController.java b/2019robot/src/main/java/org/usfirst/frc4388/utility/MPTalonPIDController.java
index 9e0dc96..2f991a1 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/utility/MPTalonPIDController.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/utility/MPTalonPIDController.java
@@ -235,6 +235,17 @@ public class MPTalonPIDController
 		
 		return false;
 	}
+
+	public void setTarget(double position, double Kf) 
+	{
+		// Kf gets multipled by position in the Talon 
+		double KfPerPosition = Math.abs(position) > 0.001 ? Kf / position : 0;
+
+		for (CANTalonEncoder motorController : motorControllers) {
+			motorController.config_kF(0, KfPerPosition, CANTalonEncoder.TIMEOUT_MS);
+			motorController.setWorld(ControlMode.Position, position);
+		}
+	}
 	
 	public MotionProfilePoint getCurrentPoint() {
 		return mpPoint;