diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LiftTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LiftTest.java
index 30b4dc3..282320d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LiftTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LiftTest.java
@@ -76,7 +76,7 @@ public class LiftTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                lift.toZero();
+                lift.toFloor();
             }
 
             if (currentGamepad1.triangle && !previousGamepad1.triangle) {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
index aa62e1c..cf66dce 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
@@ -13,7 +13,8 @@ public class RobotConstants {
 
     public static double wristFloor = 0.625;
     public static double wristBucket = 0.215;
-    public static int liftZeroPos = 0;
+    public static int liftToFloorPos = 0;
+    public static int liftToPoolPos = 500;
     public static int liftToLowBucketPos = 2250;
     public static int liftToHighBucketPos = 3700;
     public static double liftPower = .45;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
index 33bd585..e523389 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
@@ -3,7 +3,7 @@ package org.firstinspires.ftc.teamcode.subsystem;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftZeroPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToPoolPos;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
@@ -14,16 +14,17 @@ import org.firstinspires.ftc.teamcode.util.action.RunAction;
 public class LiftSubsystem {
 
     public DcMotor lift;
-    public RunAction toZero, toLowBucket, toHighBucket;
+    public RunAction toFloor, toLowBucket, toHighBucket;
+
     public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET
+        FLOOR, LOW_BUCKET, HIGH_BUCKET, POOL
     }
+
     private LiftState liftState;
 
     public LiftSubsystem(HardwareMap hardwareMap) {
         lift = hardwareMap.get(DcMotor.class, "lift-motor");
-
-        toZero = new RunAction(this::toZero);
+        toFloor = new RunAction(this::toFloor);
         toLowBucket = new RunAction(this::toLowBucket);
         toHighBucket = new RunAction(this::toHighBucket);
     }
@@ -33,29 +34,36 @@ public class LiftSubsystem {
         lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
     }
 
-    public void toZero() {
-        lift.setTargetPosition(liftZeroPos);
-        lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-    }
-
     public void switchState() {
-        if(this.liftState == LiftState.FLOOR) {
+        if (this.liftState == LiftState.FLOOR) {
+            this.toPool();
+        } else if (this.liftState == LiftState.POOL) {
             this.toLowBucket();
         } else if (this.liftState == LiftState.LOW_BUCKET) {
             this.toHighBucket();
         } else if (this.liftState == LiftState.HIGH_BUCKET) {
-            this.toZero();
+            this.toFloor();
         }
     }
 
+    public void toFloor() {
+        this.setTarget(liftToPoolPos);
+        this.setState(LiftState.FLOOR);
+    }
+
+    public void toPool() {
+        this.setTarget(liftToPoolPos);
+        this.setState(LiftState.POOL);
+    }
+
     public void toLowBucket() {
-        lift.setTargetPosition(liftToLowBucketPos);
-        lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        this.setTarget(liftToLowBucketPos);
+        this.setState(LiftState.LOW_BUCKET);
     }
 
     public void toHighBucket() {
-        lift.setTargetPosition(liftToHighBucketPos);
-        lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        this.setTarget(liftToHighBucketPos);
+        this.setState(LiftState.HIGH_BUCKET);
     }
 
     public void init() {