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 1696a7e..9e2bf89 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
@@ -9,6 +9,7 @@ public class RobotConstants {
 
     public final static double armFloor = 0.7;
     public final static double armSubmarine = 0.55;
+    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 = 0.3;
@@ -16,12 +17,14 @@ public class RobotConstants {
     public final static double wristGrabBlueberrySkyhook = 0.1;
     public final static double armHangBlueberrySkyhook = 0.6;
     public final static double wristHangBlueberrySkyhook = 0.3;
+    public final static int backwardBucketDrop = 4670;
     public final static double armBucket = 0.45;
     public final static double armInit = 0.135;
     public final static double wristInit = 0.25;
     public final static double wristPickup = 0.475;
     public final static double wristBucket = 0.56;
     public final static double wristFloor = 0.75;
+    public final static double wristBackwardBucket = 0.775;
 
     public final static double wristRung = 0.55;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmSubsystem.java
index 5af501c..5c4137f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmSubsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmSubsystem.java
@@ -7,6 +7,7 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armGrabBlueb
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armHangBlueberrySkyhook;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armInit;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armReverseBucket;
 
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.ServoImplEx;
@@ -14,7 +15,7 @@ import com.qualcomm.robotcore.hardware.ServoImplEx;
 public class ArmSubsystem {
 
     public enum ArmState {
-        PARK, FLOOR, BUCKET, SUBMARINE, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT
+        PARK, FLOOR, BUCKET, SUBMARINE, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT, REVERE_BUCKET
     }
 
     private ServoImplEx arm;
@@ -31,7 +32,10 @@ public class ArmSubsystem {
         setState(ArmState.HANG_BLUEBERRY_SKYHOOK);
         arm.setPosition(armHangBlueberrySkyhook);
     }
-
+    public void toReverseBucket(){
+        arm.setPosition(armReverseBucket);
+        setState(ArmState.REVERE_BUCKET);
+    }
     public void toParkPosition() {
         arm.setPosition(armPark);
         setState(ArmState.PARK);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristSubsystem.java
index a8dbf15..3bf3826 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristSubsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristSubsystem.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
 import static org.firstinspires.ftc.teamcode.PedroConstants.WRIST_SERVO;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBackwardBucket;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristGrabBlueberrySkyhook;
@@ -20,7 +21,7 @@ import com.qualcomm.robotcore.hardware.ServoImplEx;
 public class WristSubsystem {
 
     public enum WristState {
-        FLOOR, BUCKET, PICKUP, RUNG, SPECIMEN, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT
+        FLOOR, BUCKET, PICKUP, RUNG, SPECIMEN, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT, REVERSE_BUCKET
     }
 
     public ServoImplEx wrist;
@@ -92,7 +93,10 @@ public class WristSubsystem {
             toFloorPosition();
         }
     }
-
+    public void toReverseBucket(){
+        wrist.setPosition(wristBackwardBucket);
+        setState(WristState.REVERSE_BUCKET);
+    }
     public WristState getState() {
         return this.state;
     }