diff --git a/src/main/java/frc/robot/ArmPresets.java b/src/main/java/frc/robot/ArmPresets.java
index b8e903c1..83cbcb6a 100644
--- a/src/main/java/frc/robot/ArmPresets.java
+++ b/src/main/java/frc/robot/ArmPresets.java
@@ -21,8 +21,8 @@ public enum ArmPresets {
             76.3),
 
     // Human Player Station = HPS
-    HPS_PICKUP(0, 77,
-            72),
+    HPS_PICKUP(0, 76.3,
+            71.3),
 
     ARM_STOWED(1, 2, 1),
 
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 22fe2eed..a950cb8f 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -154,11 +154,12 @@ public CommandBase rumbleAndIntakeSpinningOff() {
     public CommandBase pickUpGamePiece = sequence(
             new ConditionalCommand(
                     sequence(
-                            armRotate.moveTo(ArmPresets.CONE_PICKUP), armExtend.moveTo(ArmPresets.CONE_PICKUP)),
+                            armRotate.moveTo(ArmPresets.CONE_PICKUP), armExtend.moveTo(ArmPresets.CONE_PICKUP),
+                            intake.toggle()),
                     sequence(
                             armRotate.moveTo(ArmPresets.CUBE_PICKUP), armExtend.moveTo(
                                     ArmPresets.CUBE_PICKUP),
-                            intake.coneRelease()),
+                            intake.coneRelease(), intake.toggle()),
                     () -> {
                         return gamePieceSub.get() == "Cone";
                     }));
diff --git a/src/main/java/frc/robot/maps/FrostBiteMap.java b/src/main/java/frc/robot/maps/FrostBiteMap.java
index 22a12dc3..ae6d82e9 100644
--- a/src/main/java/frc/robot/maps/FrostBiteMap.java
+++ b/src/main/java/frc/robot/maps/FrostBiteMap.java
@@ -177,7 +177,7 @@ public ArmRotateMap getArmRotateMap() {
         absEncoder.setDutyCycleRange(1.0 / 1025.0, 1024.0 / 1025.0);
         absEncoder.setDistancePerRotation(-360);
         // Adjust this to move the encoder zero point to the retracted position
-        absEncoder.setPositionOffset(91.89780758483522 - 7);
+        absEncoder.setPositionOffset(54.8);
 
         CSFusedEncoder fusedEncoder = new CSFusedEncoder(encoder, absEncoder);