diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 02b6f7b..152dede 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -159,7 +159,7 @@ public final class Constants {
 
         /* PID Gains */
         public static final double STORAGE_MIN_OUTPUT = -1.0;
-        public static final Gains STORAGE_GAINS = new Gains(1, 0.0, 0.0, 0.0, 0, 1.0);
+        public static final Gains STORAGE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
     }
   
     public static final class LEDConstants {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 08277bc..6077671 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -196,8 +196,7 @@ public class RobotContainer {
             .whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
 
         new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(7)))
-            .whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
+            .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(7)));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/StoragePositionPID.java b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
index 2fe2c5b..ec6caad 100644
--- a/src/main/java/frc4388/robot/commands/StoragePositionPID.java
+++ b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
@@ -42,10 +42,10 @@ public class StoragePositionPID extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (startPos + StorageConstants.STORAGE_FULL_BALL == m_storage.getEncoderPos())
+    /*if (startPos + StorageConstants.STORAGE_FULL_BALL == m_storage.getEncoderPos())
     {
       return true;
-    }
+    }*/
     return false;
   }
 }