diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 481626e..e0f4b74 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -106,7 +106,7 @@ public static final class IntakeConstants {
     public static final double kIntakeAmpScoringAngle = -71; // 193 - 100 (previous angle)
 
     /** Encoder offset in rotations */
-    public static final double kArmEncoderOffset = 0.715;
+    public static final double kArmEncoderOffset = 0.259;
 
     public static final double kIntakeSpeed = 0.5;
 
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e9bc6da..fbd1824 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -207,13 +207,26 @@ private void configureBindings() {
         .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime));
 
     new JoystickButton(m_driverController, Button.kA.value)
-        .onTrue(new InstantCommand(() -> m_ampServo.setAngle(90)));
+        .onTrue(new InstantCommand(() -> m_ampServo.setAngle(135)));
+
+    new JoystickButton(m_driverController, Button.kY.value)
+        .onTrue(new InstantCommand(() -> {
+          m_intakeSubsystem.getCurrentCommand().cancel();
+          m_intakeSubsystem.resetArmEncoder();
+          DriverStation.reportError("reset intake in", false);
+        }));
+
+    // new JoystickButton(m_driverController, Button.kX.value)
+    //     .onTrue(new InstantCommand(() -> {
+    //       // m_intakeSubsystem.getCurrentCommand().cancel();
+    //       DriverStation.reportError("reset intake out", false);
+    //     }));
 
     // new JoystickButton(m_driverController, Button.kA.value)
     //     .onTrue(new InstantCommand(() -> m_servoSubsystem.setPulseWidth(2500)));
 
     new JoystickButton(m_driverController, Button.kB.value)
-        .onTrue(new InstantCommand(() -> m_ampServo.setAngle(0)));
+        .onTrue(new InstantCommand(() -> m_ampServo.setAngle(-20)));
 
     // new JoystickButton(m_driverController, Button.kB.value)
     //     .onTrue(new InstantCommand(() -> m_servoSubsystem.setPulseWidth(1500)));
diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
index cc211db..6eed73a 100644
--- a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -13,72 +13,73 @@
 import frc.robot.Constants.ClimberConstants;
 
 public class ClimberSubsystem extends SubsystemBase {
-  private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH,
-      ClimberConstants.leftForwardChannel, ClimberConstants.leftReverseChannel);
-  private final DoubleSolenoid m_rightSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH,
-      ClimberConstants.rightReverseChannel, ClimberConstants.rightForwardChannel);
-  private PneumaticHub m_pHub;
+  // private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH,
+  //     ClimberConstants.leftForwardChannel, ClimberConstants.leftReverseChannel);
+  // private final DoubleSolenoid m_rightSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH,
+  //     ClimberConstants.rightReverseChannel, ClimberConstants.rightForwardChannel);
+  // private PneumaticHub m_pHub;
 
-  private boolean m_compressorEnabled;
+  // private boolean m_compressorEnabled;
 
-  private Value m_state;
+  // private Value m_state;
 
   public ClimberSubsystem() {
-    m_pHub = new PneumaticHub(2);
+    // m_pHub = new PneumaticHub(2);
 
-    solenoidOff();
+    // solenoidOff();
 
-    m_compressorEnabled = false;
+    // m_compressorEnabled = false;
   }
 
   // Runs once every tick (~20ms)
   public void periodic() {
-    m_leftSolenoid.set(m_state);
-    m_rightSolenoid.set(m_state);
-    SmartDashboard.putString("pneumatics state", m_state.name());
-    SmartDashboard.putNumber("pressure", m_pHub.getPressure(0));
-    SmartDashboard.putBoolean("Compressor Enabled", m_compressorEnabled);
-    SmartDashboard.putBoolean("Compressor Running", m_pHub.getCompressor());
+    // m_leftSolenoid.set(m_state);
+    // m_rightSolenoid.set(m_state);
+    // SmartDashboard.putString("pneumatics state", m_state.name());
+    // SmartDashboard.putNumber("pressure", m_pHub.getPressure(0));
+    // SmartDashboard.putBoolean("Compressor Enabled", m_compressorEnabled);
+    // SmartDashboard.putBoolean("Compressor Running", m_pHub.getCompressor());
   }
 
   public void reset() {
-    m_state = kOff;
+    // m_state = kOff;
   }
 
   /**
    * Sets the state of the solenoid to off
    */
   public void solenoidOff() {
-    m_state = kOff;
+    // m_state = kOff;
   }
 
   /**
    * Extends both arms
    */
   public void forward() {
-    m_state = kForward;
+    // m_state = kForward;
   }
 
   /**
    * Retracts both arms
    */
   public void reverse() {
-    m_state = kReverse;
+    // m_state = kReverse;
   }
 
   public Value getState(){
-    return m_state;
+    // return m_state;
+    return Value.kOff;
   }
 
   /**
    * Toggles the state of the compressor (on/off)
    */
   public void toggleCompressor() {
-    m_compressorEnabled = !m_compressorEnabled;
-    if (m_compressorEnabled) {
-      m_pHub.enableCompressorAnalog(ClimberConstants.minPressure, ClimberConstants.maxPressure);
-    } else {
-      m_pHub.disableCompressor();
-    }
+  //   m_compressorEnabled = !m_compressorEnabled;
+  //   if (m_compressorEnabled) {
+  //     m_pHub.enableCompressorAnalog(ClimberConstants.minPressure, ClimberConstants.maxPressure);
+  //   } else {
+  //     m_pHub.disableCompressor();
+  //   }
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index a0a33dd..e0b61b3 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -155,4 +155,17 @@ public static enum ArmPosition {
   public void colorSensorToggle() {
     m_colorSensorToggle = !m_colorSensorToggle;
   }
+
+  /** honestly its been a rough day i dont care enough 
+   * 
+   * yolo 
+   */
+  public void resetArmEncoder() {
+    m_armEncoder = new DutyCycleEncoder(IntakeConstants.kArmEncoderChannel);
+
+    m_armEncoder.setPositionOffset(IntakeConstants.kArmEncoderOffset);
+    m_armEncoder.setDistancePerRotation(360);
+
+    m_armSetpoint = m_armEncoder.getDistance();
+  }
 }