diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index ebb4656..2bb8a25 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -158,16 +158,17 @@ public class RobotContainer {
     );
 
     private SequentialCommandGroup placeConeHigh = new SequentialCommandGroup(
-        new PivotCommand(m_robotArm, 0),
-        new TeleCommand(m_robotArm, 0),
-        toggleClaw.asProxy(),
-        armToHome.asProxy()
+        new PivotCommand(m_robotArm, 178),
+        new WaitCommand(0.3),
+        new TeleCommand(m_robotArm, 56000)
+        // toggleClaw.asProxy(),
+        // armToHome.asProxy()
     );
 
     private SequentialCommandGroup placeConeMid = new SequentialCommandGroup(
-        new PivotCommand(m_robotArm, 189),
+        new PivotCommand(m_robotArm, 188),
         new WaitCommand(0.3),
-        new TeleCommand(m_robotArm, 34000)
+        new TeleCommand(m_robotArm, 29500)
         // toggleClaw.asProxy(),
         // armToHome.asProxy()
     );
@@ -179,7 +180,6 @@ public class RobotContainer {
         armToHome.asProxy()
     );
 
-
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -304,6 +304,8 @@ public class RobotContainer {
         // toggle claw
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
             .onTrue(toggleClaw.asProxy());
+        // new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
+        //     .onTrue(new InstantCommand(() -> m_robotClaw.setAngle(45), m_robotClaw));
         
         // kill soft limits
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 72317c3..6335570 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -12,6 +12,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_Pigeon2;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.PWM;
@@ -176,4 +177,5 @@ public class RobotMap {
   Servo leftClaw           = new Servo(0);
   Servo rightClaw          = new Servo(1);
   CANSparkMax spinnyspin = new CANSparkMax(18, MotorType.kBrushless);
+  spinnyspin.setIdleMode(IdleMode.kBrake);
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java
index e93c53b..d446957 100644
--- a/src/main/java/frc4388/robot/subsystems/Claw.java
+++ b/src/main/java/frc4388/robot/subsystems/Claw.java
@@ -35,6 +35,11 @@ public class Claw extends SubsystemBase {
 		// setClaw(false);
 	}
 
+	public void setAngle(double angle) {
+		m_leftMotor.setAngle(angle);
+		m_leftMotor.setAngle(180 - angle);
+	}
+
     public void setClaw(boolean open) {
         // Open claw
 		m_open = open;
@@ -43,8 +48,10 @@ public class Claw extends SubsystemBase {
 
 		// m_leftMotor.setBounds(4000, 20000, 2000, 0, 0);
 
-		m_leftMotor.setAngle(m_open ? 0 : 180);
-		m_rightMotor.setAngle(m_open ? 180 : 0);
+		// m_leftMotor.setAngle(m_open ? 0 : 180);
+		// m_rightMotor.setAngle(m_open ? 180 : 0);
+		m_leftMotor.setAngle(m_open ? 90 : 180);
+		m_rightMotor.setAngle(m_open ? 90 : 0);
 
 		// m_leftMotor.setRaw(m_open ? 0 : 4000);
 		// m_rightMotor.setRaw(m_open ? 4000 : 0);