diff --git a/src/main/java/com/team766/robot/Robot.java b/src/main/java/com/team766/robot/Robot.java
index 9bc33e1..d0cdc9f 100644
--- a/src/main/java/com/team766/robot/Robot.java
+++ b/src/main/java/com/team766/robot/Robot.java
@@ -7,6 +7,7 @@ public class Robot {
 	public static Intake intake;
 	public static Wrist wrist;
 	public static Elevator elevator;
+	public static Shoulder shoulder;
 	public static Drive drive;
 	public static Gyro gyro;
 	public static Lights lights;
@@ -16,6 +17,7 @@ public static void robotInit() {
 		intake = new Intake();
 		wrist = new Wrist();
 		elevator = new Elevator();
+		shoulder = new Shoulder();
 		drive = new Drive();
 		gyro = new Gyro();
 		lights = new Lights();
diff --git a/src/main/java/com/team766/robot/mechanisms/Elevator.java b/src/main/java/com/team766/robot/mechanisms/Elevator.java
index 0e047d4..6aebb00 100644
--- a/src/main/java/com/team766/robot/mechanisms/Elevator.java
+++ b/src/main/java/com/team766/robot/mechanisms/Elevator.java
@@ -1,4 +1,6 @@
 package com.team766.robot.mechanisms;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.SparkMaxPIDController;
 import com.revrobotics.CANSparkMax.ControlType;
@@ -25,15 +27,15 @@ public enum Position {
 		/** Elevator is fully retracted.  Starting position. */
 		RETRACTED(0),
 		/** Elevator is the appropriate height to place game pieces at the low node. */
-		LOW(5), 
+		LOW(0),
 		/** Elevator is the appropriate height to place game pieces at the mid node. */
 		MID(18),
 		/** Elevator is at appropriate height to place game pieces at the high node. */
 		HIGH(40), 
 		/** Elevator is at appropriate height to grab cubes from the human player. */
-		HUMAN_CUBES(40.5),
+		HUMAN_CUBES(39),
 		/** Elevator is at appropriate height to grab cones from the human player. */
-		HUMAN_CONES(40.5),
+		HUMAN_CONES(40),
 		/** Elevator is fully extended. */
 		EXTENDED(40);
 
@@ -48,7 +50,7 @@ private double getHeight() {
 		}
 	}
 
-	private static final double NUDGE_INCREMENT = 5.0;
+	private static final double NUDGE_INCREMENT = 2.0;
 	private static final double NUDGE_DAMPENER = 0.25;
 
 	private static final double NEAR_THRESHOLD = 2.0;
@@ -78,6 +80,9 @@ public Elevator() {
 			throw new IllegalStateException("Motor are not CANSparkMaxes!");
 		}
 
+		halLeftMotor.setNeutralMode(NeutralMode.Brake);
+		halRightMotor.setNeutralMode(NeutralMode.Brake);
+
 		leftMotor = (CANSparkMax) halLeftMotor;
 		rightMotor = (CANSparkMax) halRightMotor;
 
diff --git a/src/main/java/com/team766/robot/mechanisms/Shoulder.java b/src/main/java/com/team766/robot/mechanisms/Shoulder.java
index 6378390..d87627f 100644
--- a/src/main/java/com/team766/robot/mechanisms/Shoulder.java
+++ b/src/main/java/com/team766/robot/mechanisms/Shoulder.java
@@ -1,5 +1,6 @@
 package com.team766.robot.mechanisms;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.SparkMaxPIDController;
@@ -78,6 +79,9 @@ public Shoulder() {
 			throw new IllegalStateException("Motor are not CANSparkMaxes!");
 		}
 
+		halLeftMotor.setNeutralMode(NeutralMode.Brake);
+		halRightMotor.setNeutralMode(NeutralMode.Brake);
+
 		leftMotor = (CANSparkMax) halLeftMotor;
 		rightMotor = (CANSparkMax) halRightMotor;
 
diff --git a/src/main/java/com/team766/robot/mechanisms/Wrist.java b/src/main/java/com/team766/robot/mechanisms/Wrist.java
index ac6a258..d3f4f5e 100644
--- a/src/main/java/com/team766/robot/mechanisms/Wrist.java
+++ b/src/main/java/com/team766/robot/mechanisms/Wrist.java
@@ -33,11 +33,11 @@ public enum Position {
 		/** Wrist is in the position for moving around the field. */ 
 		RETRACTED(-120.0),
 		/** Wrist is level with ground. */
-		LEVEL(0.0),
-		HIGH_NODE(-30),
+		LEVEL(-65),
+		HIGH_NODE(-20),
 		MID_NODE(-25.5),
-		HUMAN_CONES(-17.5),
-		HUMAN_CUBES(-17.5),
+		HUMAN_CONES(-4),
+		HUMAN_CUBES(-8),
 		/** Wrist is fully down. **/
 		BOTTOM(60);