diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
index ee9dbe4..86bb528 100644
--- a/src/main/java/frc/robot/constants/ElevatorConstants.java
+++ b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -25,7 +25,7 @@ public class ElevatorConstants {
     public static final double kPositionControllerI = 0;
     public static final double kPositionControllerD = 0;
 
-    public static final double kAllowedError = 0.25;
+    public static final double kAllowedError = 0.5;
     
     /* 
     public static final double kVelocityControllerP = 0;
@@ -37,8 +37,8 @@ public class ElevatorConstants {
     public static final double kFeedForwardG = 0.53; // calculated value
     public static final double kFeedForwardV = 4.78; // calculated value
 
-    public static final double kMaxVelocity = 0;
-    public static final double kMaxAcceleration = 0;
+    public static final double kMaxVelocity = 120.0; // 120 inches per second (COOKING) calculated max is 184 in/s
+    public static final double kMaxAcceleration = 500.0; // 400 inches per second^2 (also COOKING) calculated max is 600 in/s^2
 
     public static final double kCoralIntakePosition = 0;
     public static final double kL1Position = 0;
diff --git a/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java b/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
index f6dcd52..b269e2b 100644
--- a/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
+++ b/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
@@ -19,37 +19,35 @@ public class ManipulatorPivotConstants {
 
     public static final int kMotorAmpsMax = 40;
 
-    public static final double kPivotConversion = 12/60 * 20/60 * 28/12;
+    public static final double kPivotConversion = 12/60 * 20/60 * 12/28;
 
     public static final double kPivotMaxVelocity = 0;
 
     public static final double kPositionalP = 0;
     public static final double kPositionalI = 0;
     public static final double kPositionalD = 0;
-    public static final double kPositionalTolerance = Units.degreesToRadians(1);
-
-    public static final double kVelocityP = 0;
-    public static final double kVelocityI = 0;
-    public static final double kVelocityD = 0;
+    public static final double kPositionalTolerance = Units.degreesToRadians(3.0);
 
     public static final double kFeedForwardS = 0;
     public static final double kFeedForwardG = 0.41; // calculated value
     public static final double kFeedForwardV = 0.68; //calculated value
 
-    // TODO Is this reasonable?
-    public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;
+    public static final double kFFGravityOffset = Units.degreesToRadians(-135.0);
 
-    public static final double kCoralIntakePosition = 0;
-    public static final double kL1Position = 0;
-    public static final double kL2Position = 0;
-    public static final double kL3Position = 0;
+    public static final double kMaxAcceleration = Units.degreesToRadians(1000.0); // degrees per second^2 calculated max = 2100
+    public static final double kMaxVelocity = Units.degreesToRadians(100.0); // degrees per second calculated max = 168
+
+    public static final double kCoralIntakePosition = Units.degreesToRadians(175.0);
+    public static final double kL1Position = Units.degreesToRadians(0.0);
+    public static final double kL2Position = Units.degreesToRadians(25.0);
+    public static final double kL3Position = Units.degreesToRadians(60.0);
     public static final double kL4Position = 0;
     public static final double kL2AlgaePosition = 0;
     public static final double kL3AlgaePosition = 0;
     /**The closest position to the elevator brace without hitting it */
-    public static final double kArmSafeStowPosition = 0;
+    public static final double kArmSafeStowPosition = Units.degreesToRadians(60.0);
     /**The forward rotation limit of the arm */
-    public static final double kRotationLimit = 0;
+    public static final double kRotationLimit = Units.degreesToRadians(175.0);
 
     public static final double kMagnetOffset = 0.0;
     public static final double kAbsoluteSensorDiscontinuityPoint = 0.0;
@@ -84,6 +82,15 @@ public class ManipulatorPivotConstants {
             .smartCurrentLimit(kMotorAmpsMax)
             .idleMode(kIdleMode);
         motorConfig.encoder.positionConversionFactor(kPivotConversion);
+        motorConfig.closedLoop
+            .p(kPositionalP)
+            .i(kPositionalI)
+            .d(kPositionalD)
+            .velocityFF(0.0); // keep at zero for position pid
+        motorConfig.closedLoop.maxMotion
+            .maxAcceleration(kMaxAcceleration)
+            .maxVelocity(kMaxVelocity)
+            .allowedClosedLoopError(kPositionalTolerance);
     }
 
 
diff --git a/src/main/java/frc/robot/subsystems/ManipulatorPivot.java b/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
index 9757772..dafa938 100644
--- a/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
+++ b/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
@@ -48,14 +48,6 @@ public class ManipulatorPivot extends SubsystemBase {
         positionController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(179));
         positionController.setTolerance(ManipulatorPivotConstants.kPositionalTolerance);
 
-        velocityController = new PIDController(
-            ManipulatorPivotConstants.kVelocityP, 
-            ManipulatorPivotConstants.kVelocityI, 
-            ManipulatorPivotConstants.kVelocityD
-        );
-
-        velocityController.setTolerance(ManipulatorPivotConstants.kVelocityTolerance);
-
         canCoder = new CANcoder(ManipulatorPivotConstants.kCANcoderID);
         canCoder.getConfigurator().apply(ManipulatorPivotConstants.canCoderConfig);