diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index dbb29f6..08277bc 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -194,6 +194,10 @@ public class RobotContainer {
         new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
             .whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.2)))
             .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)));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/StoragePositionPID.java b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
index 9536e24..a06b5e7 100644
--- a/src/main/java/frc4388/robot/commands/StoragePositionPID.java
+++ b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
@@ -31,8 +31,7 @@ public class StoragePositionPID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    System.err.println("oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooiujgxzxfghjkiujsdasdgioiedsdjkl");
-    m_storage.runStoragePositionPID(m_storage.getEncoderPos() + StorageConstants.STORAGE_FULL_BALL);
+    m_storage.runStoragePositionPID(StorageConstants.STORAGE_FULL_BALL);
   }
 
   // Called once the command ends or is interrupted.