diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 1504977..554f1cf 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -131,7 +131,7 @@ public final class Constants {
     /* TODO: Update motor IDS */
     public static final int SHOULDER_ID = 1;
     public static final int ELBOW_ID = 3;
-    public static final int GYRO_ID = -1;
+    public static final int GYRO_ID = 14;
   
     // TODO Update this stuff too
     public static final double UPPER_ARM_LENGTH = 26; // Units should be in cm
diff --git a/src/main/java/frc4388/robot/subsystems/Claws.java b/src/main/java/frc4388/robot/subsystems/Claws.java
index 7476238..66d84ec 100644
--- a/src/main/java/frc4388/robot/subsystems/Claws.java
+++ b/src/main/java/frc4388/robot/subsystems/Claws.java
@@ -105,23 +105,17 @@ public class Claws extends SubsystemBase {
    * @param limit The current limit.
    * @return Whether to interrupt the RunClaw command or not.
    */
-  public boolean checkSwitchAndCurrent(ClawType which) {
-
-    // if still calibrating, stop RunClaw
-    /*if (((Double) m_leftOffset == null) || ((Double) m_rightOffset == null)) {
-      return true;
-    }*/
-    
+  public boolean checkSwitchAndCurrent(ClawType which) {    
     if (which == ClawType.LEFT) {
       if (m_leftLimitSwitchF.isPressed() || m_leftLimitSwitchR.isPressed() || m_leftClaw.getOutputCurrent() >= ClawConstants.CURRENT_LIMIT) {
         return true;
       }
-    } else if (which == ClawType.RIGHT) {
+    } 
+    else if (which == ClawType.RIGHT) {
       if (m_rightLimitSwitchF.isPressed() || m_rightLimitSwitchR.isPressed() || m_rightClaw.getOutputCurrent() >= ClawConstants.CURRENT_LIMIT) {
         return true;
       }
     }
-
     return false;
   }