diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
index 0013451..6eb0d6c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
@@ -106,24 +106,24 @@ public class CometBotTeleopCompetition {
      */
     public void toHighBucketScore() {
         if (this.currentGP2.triangle && !this.previousGP2.triangle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toHighBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
+                fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
+                Actions.runBlocking(new SequentialAction(
+                        this.lift.toHighBucketPosition(),
+                        new SleepAction(.5),
+                        this.arm.toBucketPosition(),
+                        new SleepAction(.5),
+                        this.wrist.toBucketPosition(),
+                        new SleepAction(.5),
+                        this.claw.openClaw(),
+                        new SleepAction(.5),
+                        this.wrist.toFloorPosition(),
+                        new SleepAction(.5),
+                        this.arm.toParkPosition(),
+                        this.lift.toFloorPosition()
+                ));
+                fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+            }
         }
     }
 
@@ -139,24 +139,24 @@ public class CometBotTeleopCompetition {
      */
     public void toLowBucketScore() {
         if (this.currentGP2.circle && !this.previousGP2.circle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toLowBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
+                fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
+                Actions.runBlocking(new SequentialAction(
+                        this.lift.toLowBucketPosition(),
+                        new SleepAction(.5),
+                        this.arm.toBucketPosition(),
+                        new SleepAction(.5),
+                        this.wrist.toBucketPosition(),
+                        new SleepAction(.5),
+                        this.claw.openClaw(),
+                        new SleepAction(.5),
+                        this.wrist.toFloorPosition(),
+                        new SleepAction(.5),
+                        this.arm.toParkPosition(),
+                        this.lift.toFloorPosition()
+                ));
+                fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+            }
         }
     }
 
@@ -183,7 +183,10 @@ public class CometBotTeleopCompetition {
      */
     public void toArmParkPosition() {
         if (this.currentGP2.square && !this.previousGP2.square) {
-            Actions.runBlocking(this.arm.toParkPosition());
+            Actions.runBlocking(new SequentialAction(
+                    this.wrist.toFloorPosition(),
+                    this.arm.toParkPosition()
+            ));
         }
     }