diff --git a/src/main/java/org/carlmontrobotics/commands/armAmpPos.java b/src/main/java/org/carlmontrobotics/commands/armAmpPos.java
deleted file mode 100644
index f245580e..00000000
--- a/src/main/java/org/carlmontrobotics/commands/armAmpPos.java
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.carlmontrobotics.commands;
-import org.carlmontrobotics.subsystems.Arm;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class armAmpPos extends Command {
-  /** Creates a new armPosAmp. */
-  private Arm arm;
-  private Timer armProfileTimer = new Timer();
-  public armAmpPos(Arm arm) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.arm = arm;
-    addRequirements(arm);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    armProfileTimer.reset();
-    armProfileTimer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 1);
-    arm.COMBINE_PID_FF_TRAPEZOID(setpoint);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    armProfileTimer.stop();
-    armProfileTimer.reset();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/org/carlmontrobotics/commands/armClimberDownPos.java b/src/main/java/org/carlmontrobotics/commands/armClimberDownPos.java
deleted file mode 100644
index c0fb024a..00000000
--- a/src/main/java/org/carlmontrobotics/commands/armClimberDownPos.java
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.carlmontrobotics.commands;
-import org.carlmontrobotics.subsystems.Arm;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class armClimberDownPos extends Command {
-  /** Creates a new armPosAmp. */
-  private Arm arm;
-  private Timer armProfileTimer = new Timer();
-  public armClimberDownPos(Arm arm) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.arm = arm;
-    addRequirements(arm);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    armProfileTimer.reset();
-    armProfileTimer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 6);
-    arm.COMBINE_PID_FF_TRAPEZOID(setpoint);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    armProfileTimer.stop();
-    armProfileTimer.reset();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/org/carlmontrobotics/commands/armClimberUpPos.java b/src/main/java/org/carlmontrobotics/commands/armClimberUpPos.java
deleted file mode 100644
index 17f529c1..00000000
--- a/src/main/java/org/carlmontrobotics/commands/armClimberUpPos.java
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.carlmontrobotics.commands;
-import org.carlmontrobotics.subsystems.Arm;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class armClimberUpPos extends Command {
-  /** Creates a new armPosAmp. */
-  private Arm arm;
-  private Timer armProfileTimer = new Timer();
-  public armClimberUpPos(Arm arm) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.arm = arm;
-    addRequirements(arm);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    armProfileTimer.reset();
-    armProfileTimer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 5);
-    arm.COMBINE_PID_FF_TRAPEZOID(setpoint);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    armProfileTimer.stop();
-    armProfileTimer.reset();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/org/carlmontrobotics/commands/armGroundPos.java b/src/main/java/org/carlmontrobotics/commands/armGroundPos.java
deleted file mode 100644
index d69c0392..00000000
--- a/src/main/java/org/carlmontrobotics/commands/armGroundPos.java
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.carlmontrobotics.commands;
-import org.carlmontrobotics.subsystems.Arm;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class armGroundPos extends Command {
-  /** Creates a new armPosAmp. */
-  private Arm arm;
-  private Timer armProfileTimer = new Timer();
-  public armGroundPos(Arm arm) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.arm = arm;
-    addRequirements(arm);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    armProfileTimer.reset();
-    armProfileTimer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 0);
-    arm.COMBINE_PID_FF_TRAPEZOID(setpoint);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    armProfileTimer.stop();
-    armProfileTimer.reset();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/org/carlmontrobotics/commands/armNextToSpeakerPos.java b/src/main/java/org/carlmontrobotics/commands/armNextToSpeakerPos.java
deleted file mode 100644
index e6c4cefc..00000000
--- a/src/main/java/org/carlmontrobotics/commands/armNextToSpeakerPos.java
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.carlmontrobotics.commands;
-import org.carlmontrobotics.subsystems.Arm;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class armNextToSpeakerPos extends Command {
-  /** Creates a new armPosAmp. */
-  private Arm arm;
-  private Timer armProfileTimer = new Timer();
-  public armNextToSpeakerPos(Arm arm) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.arm = arm;
-    addRequirements(arm);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    armProfileTimer.reset();
-    armProfileTimer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 3);
-    arm.COMBINE_PID_FF_TRAPEZOID(setpoint);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    armProfileTimer.stop();
-    armProfileTimer.reset();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
-
diff --git a/src/main/java/org/carlmontrobotics/commands/armPodiumSpeakerPos.java b/src/main/java/org/carlmontrobotics/commands/armPodiumSpeakerPos.java
deleted file mode 100644
index a8801d73..00000000
--- a/src/main/java/org/carlmontrobotics/commands/armPodiumSpeakerPos.java
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.carlmontrobotics.commands;
-import org.carlmontrobotics.subsystems.Arm;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class armPodiumSpeakerPos extends Command {
-  /** Creates a new armPosAmp. */
-  private Arm arm;
-  private Timer armProfileTimer = new Timer();
-  public armPodiumSpeakerPos(Arm arm) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.arm = arm;
-    addRequirements(arm);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    armProfileTimer.reset();
-    armProfileTimer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 2);
-    arm.COMBINE_PID_FF_TRAPEZOID(setpoint);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    armProfileTimer.stop();
-    armProfileTimer.reset();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/org/carlmontrobotics/commands/armSafeZonePos.java b/src/main/java/org/carlmontrobotics/commands/armSafeZonePos.java
deleted file mode 100644
index a34eaa21..00000000
--- a/src/main/java/org/carlmontrobotics/commands/armSafeZonePos.java
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.carlmontrobotics.commands;
-import org.carlmontrobotics.subsystems.Arm;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class armSafeZonePos extends Command {
-  /** Creates a new armPosAmp. */
-  private Arm arm;
-  private Timer armProfileTimer = new Timer();
-  public armSafeZonePos(Arm arm) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.arm = arm;
-    addRequirements(arm);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    armProfileTimer.reset();
-    armProfileTimer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 4);
-    arm.COMBINE_PID_FF_TRAPEZOID(setpoint);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    armProfileTimer.stop();
-    armProfileTimer.reset();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
-
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
index 5e826a58..b8d96a4a 100644
--- a/src/main/java/org/carlmontrobotics/subsystems/Arm.java
+++ b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -4,7 +4,6 @@
 import org.carlmontrobotics.commands.ArmTeleop;
 import org.carlmontrobotics.lib199.MotorConfig;
 import org.carlmontrobotics.lib199.MotorControllerFactory;
-
 import com.revrobotics.CANSparkBase;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkMax;
@@ -122,19 +121,19 @@ public void periodic() {
         autoCancelArmCommand();
     }
 
-   /*  public void autoCancelArmCommand() {
+  public void autoCancelArmCommand() {
         if(!(getDefaultCommand() instanceof ArmTeleop) || DriverStation.isAutonomous()) return;
 
-        double[] requestedSpeeds = ((ArmTeleop) getDefaultCommand()).getRequestedSpeeds();
+        double requestedSpeeds = ((ArmTeleop) getDefaultCommand()).getRequestedSpeeds();
 
-        if(requestedSpeeds[0] != 0 || requestedSpeeds[1] != 0) {
+        if(requestedSpeeds != 0) {
             Command currentArmCommand = getCurrentCommand();
             if(currentArmCommand != getDefaultCommand() && currentArmCommand != null) {
                 currentArmCommand.cancel();
             }
         }
     }
-*/
+
     //#region Drive Methods
 
     public void driveArm(double goalAngle) {