diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
index d13fe44..855a5cd 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
@@ -18,7 +18,7 @@ public class RobotMap {
 	public static final int DRIVETRAIN_RIGHT_MOTOR2_CAN_ID = 5;
 	
 	//carriage motors
-	public static final int WRIST_LEFT_MOTOR_CAN_ID = 6;
+	public static final int WRIST_RIGHT_MOTOR_CAN_ID = 6;
 	public static final int INTAKE_MOTOR = 7;
 	  
 	//Arm Motors
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 4ee0897..a8e3ff7 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
@@ -94,7 +94,7 @@ public class Wrist extends Subsystem
     try
     {
       //PID wrist encoder and talon
-			wristRight = new CANTalonEncoder(RobotMap.WRIST_LEFT_MOTOR_CAN_ID, WRIST_ENCODER_TICKS_TO_DEGREES, FeedbackDevice.QuadEncoder);
+			wristRight = new CANTalonEncoder(RobotMap.WRIST_RIGHT_MOTOR_CAN_ID, WRIST_ENCODER_TICKS_TO_DEGREES, FeedbackDevice.QuadEncoder);
     }
     catch(Exception e)
     {
@@ -222,7 +222,7 @@ public class Wrist extends Subsystem
   {
     double joystickSpeed;
     
-    joystickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
+    joystickSpeed = -Robot.oi.getOperatorController().getRightYAxis();
 		setSpeedJoystick(joystickSpeed);
   }
   
@@ -242,6 +242,11 @@ public class Wrist extends Subsystem
     updatePositionPID(targetAngleDegreesBallIn);
   }
 
+  public void controlPIDBallOut()
+  {
+
+  }
+
   public synchronized boolean isFinished() 
   {
 		return isFinished;