diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index f884ee9..1ebcd1a 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -328,32 +328,32 @@ public final class Constants {
     }
 
     public static final class ElevatorConstants {
-        public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 724);
+        public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
         
-        public static final double GEAR_RATIO = 100.0;
-        public static final double LEVEL_1 = 123 * GEAR_RATIO;
-        public static final double LEVEL_2 = 123 * GEAR_RATIO;
-        public static final double ELEVATOR_MAX_HEIGHT = 123 * GEAR_RATIO;
-        public static final double ELEVATOR_SPEED_UP = 123 * GEAR_RATIO;
-        public static final double ELEVATOR_SPEED_DOWN = -123 * GEAR_RATIO;
+        public static final double GEAR_RATIO = 36.0;
+        public static final double LEVEL_1 = 0 * GEAR_RATIO;
+        public static final double LEVEL_2 = 5 * GEAR_RATIO;
+        public static final double ELEVATOR_MAX_HEIGHT = 5 * GEAR_RATIO;
+        public static final double ELEVATOR_SPEED_UP = 1 * GEAR_RATIO;
+        public static final double ELEVATOR_SPEED_DOWN = -1 * GEAR_RATIO;
 
 
         public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
-            .withKP(0)
+            .withKP(1)
             .withKI(0)
             .withKD(0);
     }
 
     public static class EndeffectorConstants {
-        public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 42);
+        public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
         
         public static final double GEAR_RATIO = 100.0;
-        public static final double TOP = 8.0 * GEAR_RATIO;
-        public static final double MIDDLE = 6.0 * GEAR_RATIO;
-        public static final double BOTTOM = 4.0 * GEAR_RATIO;
+        public static final double TOP = 0.25 * GEAR_RATIO;
+        public static final double MIDDLE = 0.0 * GEAR_RATIO;
+        public static final double BOTTOM = -0.25 * GEAR_RATIO;
 
         public static final Slot0Configs ENDEFECTOR_PID = new Slot0Configs()
-            .withKP(0)
+            .withKP(1)
             .withKI(0)
             .withKD(0);
         
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 6d6e88a..8b6a0ba 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -64,7 +64,7 @@ public class RobotContainer {
     public final Vision m_vision = new Vision(m_robotMap.camera);
 
     public final Elevator m_robotELevator= new Elevator(m_robotMap.elevator);
-    public final Endeffector m_robotEndeffector = new Endeffector(m_robotMap.elevator);
+    public final Endeffector m_robotEndeffector = new Endeffector(m_robotMap.endeffector);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
     // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
 
@@ -197,11 +197,11 @@ public class RobotContainer {
             .onFalse(new InstantCommand());
 
             /*DPad for Level 1 and 2*/
-        new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
+        new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.9)
             .onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel2()))
             .onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
 
-        new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
+        new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.9)
             .onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel1()))
             .onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
 
@@ -217,13 +217,16 @@ public class RobotContainer {
             /*Endeffector Controls*/
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorTop()));
+            .onTrue(new InstantCommand(() -> m_robotEndeffector.PIDTop()))
+            .onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorMiddle()));
+            .onTrue(new InstantCommand(() -> m_robotEndeffector.PIDMiddle()))
+            .onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorBottom()));
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotEndeffector.PIDBottom()))
+            .onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));;
     }
     
     /**
diff --git a/src/main/java/frc4388/robot/subsystems/Endeffector.java b/src/main/java/frc4388/robot/subsystems/Endeffector.java
index 69d1d81..ed7d3b5 100644
--- a/src/main/java/frc4388/robot/subsystems/Endeffector.java
+++ b/src/main/java/frc4388/robot/subsystems/Endeffector.java
@@ -9,6 +9,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ElevatorConstants;
 import frc4388.robot.Constants.EndeffectorConstants;
 
 public class Endeffector extends SubsystemBase {
@@ -18,6 +19,8 @@ public class Endeffector extends SubsystemBase {
     endeffectorMotor = endffectorTalonFX;
 
     endeffectorMotor.setNeutralMode(NeutralModeValue.Brake);
+    endeffectorMotor.getConfigurator().apply(EndeffectorConstants.ENDEFECTOR_PID);
+
   }
 
   public void PIDPosition(double position) {
@@ -37,16 +40,8 @@ public class Endeffector extends SubsystemBase {
     PIDPosition(EndeffectorConstants.BOTTOM);
   }
 
-  public void endeffectorTop() {
-    endeffectorMotor.set(EndeffectorConstants.TOP);
-  }
-  
-  public void endeffectorMiddle() {
-    endeffectorMotor.set(EndeffectorConstants.MIDDLE);
-  }
-
-  public void endeffectorBottom() {
-    endeffectorMotor.set(EndeffectorConstants.BOTTOM);
+  public void endEffectorStop() {
+    endeffectorMotor.set(0);
   }
 
   @Override