diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ed9c14d..543a420 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -192,10 +192,12 @@ public class RobotContainer {
 			.withPosition(4, 1)
 			.withWidget(BuiltInWidgets.kBooleanBox);
 
+		/* 
 		sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch)
 			.withSize(1, 1)
 			.withPosition(4, 0)
 			.withWidget(BuiltInWidgets.kBooleanBox);
+			*/
   }
 
 	public Command getAutonomousCommand() {
@@ -211,8 +213,8 @@ public class RobotContainer {
 			ElevatorConstants.kCoralIntakePosition, 
 			ManipulatorPivotConstants.kCoralIntakePosition
 		)
-			.andThen(manipulator.runUntilCollected(1, true));
-	}
+			.andThen(manipulator.runUntilCollected(1));
+		}
 
 	/**
 	 * Moves the elevator and arm to the constant setpoints and runs the manipulator until collected
@@ -225,7 +227,7 @@ public class RobotContainer {
 			l2 ? ElevatorConstants.kL2AlgaePosition : ElevatorConstants.kL3AlgaePosition, 
 			l2 ? ManipulatorPivotConstants.kL2AlgaePosition : ManipulatorPivotConstants.kL3AlgaePosition
 		)
-			.andThen(manipulator.runUntilCollected(1, false));
+			.andThen(manipulator.runUntilCollected(1));
 	}
 
 	/**
diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
index d2d5263..e401bd3 100644
--- a/src/main/java/frc/robot/constants/ElevatorConstants.java
+++ b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -17,7 +17,8 @@ public class ElevatorConstants {
     public static final int kTopLimitSwitchID = 0;
     public static final int kBottomLimitSwitchID = 0;
 
-    public static final double kEncoderConversionFactor = 0;
+    // 60/12 gearing multiplied by circumference of sprocket multiplied by 2 for carriage position
+    public static final double kEncoderConversionFactor = 11/60 * Math.PI * 1.75 * 2;
 
     public static final int kMotorAmpsMax = 40;
 
diff --git a/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java b/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
index cc91d7b..f6dcd52 100644
--- a/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
+++ b/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
@@ -19,6 +19,8 @@ public class ManipulatorPivotConstants {
 
     public static final int kMotorAmpsMax = 40;
 
+    public static final double kPivotConversion = 12/60 * 20/60 * 28/12;
+
     public static final double kPivotMaxVelocity = 0;
 
     public static final double kPositionalP = 0;
@@ -81,6 +83,7 @@ public class ManipulatorPivotConstants {
         motorConfig
             .smartCurrentLimit(kMotorAmpsMax)
             .idleMode(kIdleMode);
+        motorConfig.encoder.positionConversionFactor(kPivotConversion);
     }
 
 
diff --git a/src/main/java/frc/robot/subsystems/Manipulator.java b/src/main/java/frc/robot/subsystems/Manipulator.java
index bff58d8..c4f6447 100644
--- a/src/main/java/frc/robot/subsystems/Manipulator.java
+++ b/src/main/java/frc/robot/subsystems/Manipulator.java
@@ -16,7 +16,7 @@ public class Manipulator extends SubsystemBase {
     private SparkMax manipulatorMotor;
 
     private DigitalInput coralBeamBreak;
-    private DigitalInput algaeBeamBreak; 
+  //  private DigitalInput algaeBeamBreak; 
 
     public Manipulator() {
         manipulatorMotor = new SparkMax(
@@ -31,7 +31,7 @@ public class Manipulator extends SubsystemBase {
         );
 
         coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
-        algaeBeamBreak = new DigitalInput(ManipulatorConstants.kAlgaeBeamBreakID);
+      //  algaeBeamBreak = new DigitalInput(ManipulatorConstants.kAlgaeBeamBreakID);
     }
 
     /**
@@ -42,10 +42,8 @@ public class Manipulator extends SubsystemBase {
      */
     public Command defaultCommand() {
         return run(() -> {
-            manipulatorMotor.set(
-                algaeBeamBreak.get() ? 0.1 : 0
-            );
-        });
+            runUntilCollected(0.1);
+            });
     }
 
     /**
@@ -70,19 +68,15 @@ public class Manipulator extends SubsystemBase {
      * @param coral Is the object a coral? (True = Coral, False = Algae)
      * @return Returns a command that sets the speed of the motor
      */
-    public Command runUntilCollected(double speed, boolean coral) {
+    public Command runUntilCollected(double speed) {
         return run(() -> {
             manipulatorMotor.set(
-                coral ? speed : speed * -1
+                speed * -1
             );
-        }).until(() -> coralBeamBreak.get() || algaeBeamBreak.get());
+        }).until(() -> coralBeamBreak.get());
     }
 
     public boolean getCoralBeamBreak() {
         return coralBeamBreak.get();
     }
-
-    public boolean getAlgaePhotoSwitch() {
-        return algaeBeamBreak.get();
-    }
 }