diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c7cbf07..e1879ea 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -148,7 +148,7 @@ public class RobotContainer {
 		);
 
 		driver.leftTrigger().whileTrue( 
-			manipulator.runUntilCollected(() -> 0.35).andThen(manipulator.retractCommand(() -> 0.35))
+			manipulator.runUntilCollected(() -> 0.35)
 		);
 
 		driver.start().and(driver.back()).onTrue(
@@ -217,13 +217,15 @@ public class RobotContainer {
 
 		operator.x().onTrue(
 			safeMoveManipulator(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
-		);
+			
+		).and(driver.rightTrigger().whileFalse(manipulator.runManipulator(() -> 0.5, false)));
 
 		operator.b().onTrue(
 			safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
-		);
+		).and(driver.rightTrigger().whileFalse(manipulator.runManipulator(() -> 0.5, false)));
 
-		operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition));
+		operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition))
+		.and(driver.rightTrigger().whileFalse(manipulator.runManipulator(() -> 0.5, false)));
 
 	}
 
diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
index 01ea613..aeb9173 100644
--- a/src/main/java/frc/robot/constants/ElevatorConstants.java
+++ b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -41,8 +41,8 @@ public class ElevatorConstants {
 
     public static final double kCoralIntakePosition = 0;
     public static final double kL1Position = 0;
-    public static final double kL2Position = 8;
-    public static final double kL3Position = 25.0;
+    public static final double kL2Position = 9;
+    public static final double kL3Position = 23.0;
     public static final double kL4Position = 50.5;
     public static final double kL4TransitionPosition = 40.0;
     public static final double kL2AlgaePosition = 21.0;
diff --git a/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java b/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
index e4b9ea2..722e49c 100644
--- a/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
+++ b/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
@@ -23,7 +23,7 @@ public class ManipulatorPivotConstants {
     public static final double kPositionalP = 4;
     public static final double kPositionalI = 0;
     public static final double kPositionalD = 0;
-    public static final double kPositionalTolerance = Units.degreesToRadians(3.0);
+    public static final double kPositionalTolerance = Units.degreesToRadians(1.5);
 
     public static final double kFeedForwardS = (0.3-0.19) / 2 * 0.8; //upper: 0.3 lower: 0.19
     public static final double kFeedForwardG = (0.3+0.19) / 2; // calculated value 0.41