diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
index c47ce76f..ec1e605a 100644
--- a/src/main/java/org/carlmontrobotics/subsystems/Arm.java
+++ b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -141,6 +141,7 @@ public void periodic() {
 
 
         autoCancelArmCommand();
+        driveArm(goalState.position);
     }
 
     public TrapezoidProfile.State calculateCustomSetPoint(double goalSeconds, TrapezoidProfile.State currentPoint, TrapezoidProfile.State goalState) {