diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
index 6ae93c0..b6b46d2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
@@ -44,6 +44,8 @@ public class DevTeleop extends OpMode {
     public DcMotor backLeftMotor;
     public DcMotor frontRightMotor;
     public DcMotor backRightMotor;
+
+    private double MAX_POWER = .6;
     @Override
     public void init() {
         claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
@@ -67,7 +69,8 @@ public class DevTeleop extends OpMode {
 
         currentGamepad1 = new Gamepad();
         previousGamepad1 = new Gamepad();
-
+        currentGamepad2 = new Gamepad();
+        previousGamepad2 = new Gamepad();
     }
 
     public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
@@ -98,6 +101,7 @@ public class DevTeleop extends OpMode {
     public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
         if (currentGamepad2.y && !previousGamepad2.y) {
             lift.toLowBucket();
+            arm.bucketArm();
             wrist.bucketWrist();
         }
     }
@@ -105,6 +109,7 @@ public class DevTeleop extends OpMode {
 
         if (currentGamepad2.a && !previousGamepad2.a) {
             lift.toHighBucket();
+            arm.bucketArm();
             wrist.bucketWrist();
         }
     }
@@ -112,6 +117,9 @@ public class DevTeleop extends OpMode {
     public void loop() {
         previousGamepad1.copy(currentGamepad1);
         currentGamepad1.copy(gamepad1);
+        previousGamepad2.copy(currentGamepad2);
+        currentGamepad2.copy(gamepad2);
+
 
         theDrop(arm, wrist);
         thePickup(claw);
@@ -148,10 +156,10 @@ public class DevTeleop extends OpMode {
 
 
         // Send calculated power to wheels
-        frontLeftMotor.setPower(leftFrontPower);
-        frontRightMotor.setPower(rightFrontPower);
-        backLeftMotor.setPower(leftBackPower);
-        backRightMotor.setPower(rightBackPower);
+        frontLeftMotor.setPower(leftFrontPower * MAX_POWER);
+        frontRightMotor.setPower(rightFrontPower * MAX_POWER);
+        backLeftMotor.setPower(leftBackPower * MAX_POWER);
+        backRightMotor.setPower(rightBackPower * MAX_POWER);
 
         // Show the elapsed game time and wheel power.
         telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);