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 ec85781..6dca065 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
@@ -291,7 +291,7 @@ public class Arm extends Subsystem implements ControlLoopable
 	
 	private void controlManualWithJoystick() {
 		double joyStickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
-		setSpeedJoystick((joyStickSpeed*.30)+.12);
+		setSpeedJoystick((joyStickSpeed*.30)+.1);
 	}
 	/*
 	public void setShiftState(ElevatorSpeedShiftState state) {
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
index b02dc4b..c498fd2 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
@@ -111,8 +111,8 @@ public class Climber extends Subsystem{
 				climberBack.set(0.5 * SPEED);
 				climberFront.set(SPEED);
 			}*/
-			climberBack.set(-rightTriggerInput * 0.3);
-			climberFront.set(leftTriggerInput * 0.6);		
+			climberBack.set(-rightTriggerInput * 0.8);
+			climberFront.set(leftTriggerInput * 0.7);		
 		}
 		else {
 			climberBack.set(rightTriggerInput*.3);
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
index 4d3e6fc..f404f20 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
@@ -108,6 +108,9 @@ public class Drive extends Subsystem implements ControlLoopable
 	private CANEncoder left_distance;
 	private CANEncoder right_distance;
 
+	private CANPIDController leftDrive1_Controller;
+	private CANPIDController rightDrive1_Controller;
+
 	
 
 
@@ -286,9 +289,12 @@ public class Drive extends Subsystem implements ControlLoopable
 
 			//System.err.println("After motor settings.");
 			
-			CANPIDController leftDrive1_Controller = new CANPIDController(leftDrive1);
-			CANPIDController rightDrive1_Controller = new CANPIDController(rightDrive1);
+			leftDrive1_Controller = new CANPIDController(leftDrive1);
+			rightDrive1_Controller = new CANPIDController(rightDrive1);
 							
+			left_distance = leftDrive1.getEncoder();
+			right_distance = rightDrive1.getEncoder();
+
 			motorControllers.add(leftDrive1_Controller);
 			motorControllers.add(rightDrive1_Controller);
 
@@ -483,8 +489,8 @@ public class Drive extends Subsystem implements ControlLoopable
     
     public void updatePose() {
 		//m_encoder = m_motor.getEncoder();
-        left_distance = leftDrive1.getEncoder();
-        right_distance = rightDrive1.getEncoder();
+        /*left_distance = leftDrive1.getEncoder();
+        right_distance = rightDrive1.getEncoder(); Moved to Drive constructor*/
         Rotation2d gyro_angle = Rotation2d.fromDegrees(-getGyroAngleDeg());
         lastPose = currentPose;
        // currentPose = generateOdometryFromSensors(left_distance - left_encoder_prev_distance_, right_distance - right_encoder_prev_distance_, gyro_angle);
@@ -868,9 +874,8 @@ public class Drive extends Subsystem implements ControlLoopable
 				SmartDashboard.putNumber("Update Period (ms)", lastControlLoopUpdatePeriod * 1000.0);
 				
 				
-				//SmartDashboard.putNumber("Right Pos Ticks", right_distance.getPosition());//rightDrive1.getSelectedSensorPosition(0));   FIX TODAY
-				//SmartDashboard.putNumber("Left Pos Ticks", left_distance.getPosition());//leftDrive1.getSelectedSensorPosition(0));
-
+				SmartDashboard.putNumber("Right Pos Ticks", right_distance.getPosition());//rightDrive1.getSelectedSensorPosition(0));   FIX TODAY
+				SmartDashboard.putNumber("Left Pos Ticks", left_distance.getPosition());//leftDrive1.getSelectedSensorPosition(0));
 				
 				//SmartDashboard.putNumber("Right Pos Inches", -encoderRight.getPosition());//rightDrive1.getPositionWorld());
 				//SmartDashboard.putNumber("Left Pos Inches", encoderLeft.getPosition());//leftDrive1.getPositionWorld());