diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ac14107..606efd5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -246,12 +246,22 @@ public class RobotContainer {
 		sensorTab.addDouble("ElevMotor2", elevator::getMotor2)
 			.withWidget(BuiltInWidgets.kGraph);
 
-		sensorTab.addDouble("Elevator setpoint", elevator::getPIDUpSetpoint)
+		sensorTab.addDouble("Elevator setpoint up", elevator::getPIDUpSetpoint)
 			.withSize(1, 1)
 			.withPosition(5, 0)
 			.withWidget(BuiltInWidgets.kTextView);
 
-		sensorTab.addDouble("Elevator error", elevator::getPIDUpError)
+		sensorTab.addDouble("Elevator error up", elevator::getPIDUpError)
+			.withSize(1, 1)
+			.withPosition(5, 1)
+			.withWidget(BuiltInWidgets.kTextView);
+
+			sensorTab.addDouble("Elevator setpoint down", elevator::getPIDDownSetpoint)
+			.withSize(1, 1)
+			.withPosition(5, 0)
+			.withWidget(BuiltInWidgets.kTextView);
+
+		sensorTab.addDouble("Elevator error down", elevator::getPIDDownError)
 			.withSize(1, 1)
 			.withPosition(5, 1)
 			.withWidget(BuiltInWidgets.kTextView);
@@ -384,8 +394,12 @@ public class RobotContainer {
 	 * @return Moves the elevator and arm to the setpoints
 	 */
 	private Command safeMoveManipulator(double elevatorPosition, double armPosition) {
-		return moveManipulatorUtil(elevatorPosition, ManipulatorPivotConstants.kPivotSafeStowPosition, false, true)
-			.andThen(manipulatorPivot.goToSetpoint(() -> armPosition));
+		/*return moveManipulatorUtil(elevatorPosition, ManipulatorPivotConstants.kPivotSafeStowPosition, false, true)
+			.deadlineFor(manipulatorPivot.goToSetpoint(() -> armPosition),
+				 elevator.maintainPosition());*/
+		return manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kPivotSafeStowPosition)
+		.andThen(elevator.goToSetpoint(() -> elevatorPosition))
+		.andThen(manipulatorPivot.goToSetpoint(() -> armPosition));
 	}
 
 	@SuppressWarnings("unused")
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index 2de584f..635816d 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -145,6 +145,7 @@ public class Elevator extends SubsystemBase {
 
         }, 
         () -> {
+            /* 
             if (!pidControllerUp.atSetpoint()) {
                 if(encoder.getPosition()>pidControllerUp.getSetpoint()){
                     elevatorMotor1.setVoltage(
@@ -163,7 +164,11 @@ public class Elevator extends SubsystemBase {
                 elevatorMotor1.setVoltage(
                     feedForward.calculate(0)
                 );
-            }
+            }*/
+
+            elevatorMotor1.setVoltage(
+                feedForward.calculate(0)
+            );
         });
         
     }
@@ -185,21 +190,20 @@ public class Elevator extends SubsystemBase {
         pidControllerDown.reset();
         }, 
         () -> {
+            double upOutput = pidControllerUp.calculate(getEncoderPosition());
+            double downOutput = pidControllerDown.calculate(getEncoderPosition());
+
             if(setpoint.getAsDouble()>encoder.getPosition())
                 elevatorMotor1.setVoltage(
-                    pidControllerUp.calculate(
-                        encoder.getPosition()
-                    ) + feedForward.calculate(0)
+                    upOutput + feedForward.calculate(0)
                 );
             else{
                 elevatorMotor1.setVoltage(
-                    pidControllerDown.calculate(
-                        encoder.getPosition()
-                    ) + feedForward.calculate(0)
+                    downOutput + feedForward.calculate(0)
                 );
             }
         
-        }).until(() -> pidControllerUp.atSetpoint());
+        }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint());
   
             
             /*