diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a92fc06..a8b7986 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -31,11 +31,11 @@ public class RobotContainer {
 
     private void configureBindings() {
         driver.x().onTrue(
-            closedLoopTest.incrementPosition(-360)
+            closedLoopTest.setPosition(360)
         );
 
         driver.b().onTrue(
-            closedLoopTest.incrementPosition(360)
+            closedLoopTest.setPosition(0)
         );
 
         driver.y().onTrue(
diff --git a/src/main/java/frc/robot/constants/ClosedLoopTestConstants.java b/src/main/java/frc/robot/constants/ClosedLoopTestConstants.java
index 6563892..5de065f 100644
--- a/src/main/java/frc/robot/constants/ClosedLoopTestConstants.java
+++ b/src/main/java/frc/robot/constants/ClosedLoopTestConstants.java
@@ -1,15 +1,21 @@
 package frc.robot.constants;
 
+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.MAXMotionConfig.MAXMotionPositionMode;
 
 public class ClosedLoopTestConstants {
     public static final double kPositionConversionFactor = 360.0/25.0;
     public static final double kVelocityConversionFactor = kPositionConversionFactor / 60.0;
 
-    public static final double kP = 0.001;
-    public static final double kI = 0;
-    public static final double kD = 0;
-    public static final double kF = 0;
+    public static final double kVeloP = 0.001;
+    public static final double kVeloI = 0;
+    public static final double kVeloD = 0;
+    public static final double kVeloF = 0;
+
+    public static final double kPosP = 0.001;
+    public static final double kPosI = 0;
+    public static final double kPosD = 0;
 
     public static final double kAllowedClosedLoopError = 4;
     public static final double kMaxAcceleration = 180;
@@ -23,14 +29,20 @@ public class ClosedLoopTestConstants {
             .velocityConversionFactor(kVelocityConversionFactor);
         motorConfig.closedLoop
             .pidf(
-                kP, 
-                kI, 
-                kD, 
-                kF
+                kVeloP, 
+                kVeloI, 
+                kVeloD, 
+                kVeloF, 
+                ClosedLoopSlot.kSlot0
+            ).pid(
+                kPosP, 
+                kPosI, 
+                kPosD,
+                ClosedLoopSlot.kSlot1
             );
         motorConfig.closedLoop.maxMotion
             .allowedClosedLoopError(kAllowedClosedLoopError)
             .maxAcceleration(kMaxAcceleration)
-            .maxVelocity(kMaxVelocity);
+            .maxVelocity(kMaxVelocity).positionMode(MAXMotionPositionMode.kMAXMotionTrapezoidal);
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/ClosedLoopTest.java b/src/main/java/frc/robot/subsystems/ClosedLoopTest.java
index ac5a06d..e7cbec7 100644
--- a/src/main/java/frc/robot/subsystems/ClosedLoopTest.java
+++ b/src/main/java/frc/robot/subsystems/ClosedLoopTest.java
@@ -1,6 +1,7 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.RelativeEncoder;
+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.ControlType;
@@ -37,10 +38,17 @@ public class ClosedLoopTest extends SubsystemBase {
     }
 
     public Command incrementPosition(double increment) {
+        return runOnce(() -> {
+            setPosition(encoder.getPosition() + increment);
+        });
+    }
+
+    public Command setPosition(double position) {
         return runOnce(() -> {
             controller.setReference(
-                encoder.getPosition() + increment, 
-                ControlType.kMAXMotionPositionControl
+                position, 
+                ControlType.kMAXMotionPositionControl, 
+                ClosedLoopSlot.kSlot0
             );
         });
     }
@@ -49,7 +57,8 @@ public class ClosedLoopTest extends SubsystemBase {
         return runOnce(() -> {
             controller.setReference(
                 velocity, 
-                ControlType.kMAXMotionVelocityControl
+                ControlType.kMAXMotionVelocityControl, 
+                ClosedLoopSlot.kSlot0
             );
         });
     }