diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java
index d5c2d4e..f1fc4a7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java
@@ -122,7 +122,7 @@ public class CometBotTeleOpDevelopment {
 
     private void armToBucketPosition() {
         if (currentGamepad2.dpad_up && !previousGamepad2.dpad_up) {
-            armParked = true;
+            armParked = false;
             arm.toBucketPosition();
             wrist.toBucketPosition();
             wristPickup = false;
@@ -175,15 +175,15 @@ public class CometBotTeleOpDevelopment {
 
         if (gamepad1.x && claw.getState() == ClawSubsystem.ClawState.CLOSED) {
             //now slap on bar, first wrist, then arm, then claw then driver must drive away
-            dualSlides.toFixedPosition(500);
+            dualSlides.toFixedPosition(200);
             dualSlides.update();
         }
 
         if (gamepad1.y) {
-            arm.hangBlueberrySkyhook();
             wrist.hangBlueberrySkyhook();
+            arm.hangBlueberrySkyhook();
             try {
-                Thread.sleep(500);
+                Thread.sleep(1500);
             } catch (InterruptedException e) {
                 throw new RuntimeException(e);
             }
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 72720cf..7febb68 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
@@ -14,7 +14,7 @@ public class RobotConstants {
     public final static double armReverseBucket = 0.08;
     public final static double armPark = 0.33;
     //value for grabbing the hook Specimen
-    public final static double grabBlueberry = 0.69;
+    public final static double grabBlueberry = 0.56;
     public final static double armGrabBlueberrySkyhook = 0.045;
     public final static double wristGrabBlueberrySkyhook = 0.08;
     public final static double armHangBlueberrySkyhook = 0.18;