diff --git a/electrical/documents/ioni/base.drc b/electrical/documents/ioni/base.drc
index b800893..4a3d058 100644
--- a/electrical/documents/ioni/base.drc
+++ b/electrical/documents/ioni/base.drc
@@ -9,7 +9,7 @@ GranityVersionInt=11400
 1\scaling=1
 1\offset=0
 1\readonly=true
-1\value=10702
+1\value=10707
 1\min=2
 1\max=1
 2\name=HWTYPE
@@ -25,7 +25,7 @@ GranityVersionInt=11400
 3\scaling=1
 3\offset=0
 3\readonly=true
-3\value=110028853
+3\value=110028573
 3\min=2
 3\max=1
 4\name=BUILDREVISION
@@ -33,7 +33,7 @@ GranityVersionInt=11400
 4\scaling=1
 4\offset=0
 4\readonly=true
-4\value=163070257
+4\value=157269493
 4\min=2
 4\max=1
 5\name=CEI
@@ -49,7 +49,7 @@ GranityVersionInt=11400
 6\scaling=1
 6\offset=0
 6\readonly=true
-6\value=-314970192
+6\value=526566403
 6\min=2
 6\max=1
 7\name=SMO
@@ -153,7 +153,7 @@ GranityVersionInt=11400
 19\scaling=1
 19\offset=0
 19\readonly=false
-19\value=0
+19\value=-29203491
 19\min=-536870912
 19\max=536870911
 20\name=FBR
@@ -291,7 +291,7 @@ GranityVersionInt=11400
 36\readonly=false
 36\value=3
 36\min=0
-36\max=5.99999999999999
+36\max=6
 37\name=FOV
 37\addr=569
 37\scaling=100
@@ -313,7 +313,7 @@ GranityVersionInt=11400
 39\scaling=1
 39\offset=0
 39\readonly=false
-39\value=100000
+39\value=175000
 39\min=0
 39\max=1000000
 40\name=FVT
@@ -377,7 +377,7 @@ GranityVersionInt=11400
 47\scaling=1
 47\offset=0
 47\readonly=false
-47\value=7
+47\value=39
 47\min=0
 47\max=32767
 48\name=TCH
@@ -385,7 +385,7 @@ GranityVersionInt=11400
 48\scaling=1
 48\offset=0
 48\readonly=false
-48\value=96
+48\value=128
 48\min=0
 48\max=-1
 49\name=TTR
@@ -393,7 +393,7 @@ GranityVersionInt=11400
 49\scaling=1
 49\offset=0
 49\readonly=false
-49\value=4
+49\value=3
 49\min=0
 49\max=536870911
 50\name=TBT
@@ -401,7 +401,7 @@ GranityVersionInt=11400
 50\scaling=1
 50\offset=0
 50\readonly=false
-50\value=10
+50\value=0
 50\min=-1000000
 50\max=100
 51\name=CRI
@@ -521,7 +521,7 @@ GranityVersionInt=11400
 65\scaling=1
 65\offset=0
 65\readonly=false
-65\value=0
+65\value=416
 65\min=0
 65\max=-1
 66\name=HMV
@@ -537,7 +537,7 @@ GranityVersionInt=11400
 67\scaling=1
 67\offset=0
 67\readonly=false
-67\value=10
+67\value=1
 67\min=1
 67\max=32767
 68\name=HMH
@@ -561,7 +561,7 @@ GranityVersionInt=11400
 70\scaling=1
 70\offset=0
 70\readonly=false
-70\value=0
+70\value=2861472
 70\min=-536870912
 70\max=536870911
 71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11400
 71\scaling=1
 71\offset=0
 71\readonly=false
-71\value=0
+71\value=-2861472
 71\min=-536870912
 71\max=536870911
 72\name=HMF
@@ -673,7 +673,7 @@ GranityVersionInt=11400
 84\scaling=1
 84\offset=0
 84\readonly=true
-84\value=4194047
+84\value=62914303
 84\min=0
 84\max=0
 85\name=CAPS2
diff --git a/electrical/documents/ioni/shoulder.drc b/electrical/documents/ioni/shoulder.drc
index 24fd809..3b55fda 100644
--- a/electrical/documents/ioni/shoulder.drc
+++ b/electrical/documents/ioni/shoulder.drc
@@ -1,7 +1,7 @@
 [Header]
 DRCVersion=110
-GranityVersion=1.14.1
-GranityVersionInt=11401
+GranityVersion=1.14.0
+GranityVersionInt=11400
 
 [GDT3Params]
 1\name=GCFWVER
@@ -153,7 +153,7 @@ GranityVersionInt=11401
 19\scaling=1
 19\offset=0
 19\readonly=false
-19\value=0
+19\value=340555
 19\min=-536870912
 19\max=536870911
 20\name=FBR
@@ -393,7 +393,7 @@ GranityVersionInt=11401
 49\scaling=1
 49\offset=0
 49\readonly=false
-49\value=4
+49\value=1
 49\min=0
 49\max=536870911
 50\name=TBT
@@ -401,7 +401,7 @@ GranityVersionInt=11401
 50\scaling=1
 50\offset=0
 50\readonly=false
-50\value=10
+50\value=0
 50\min=-1000000
 50\max=100
 51\name=CRI
@@ -521,7 +521,7 @@ GranityVersionInt=11401
 65\scaling=1
 65\offset=0
 65\readonly=false
-65\value=0
+65\value=416
 65\min=0
 65\max=-1
 66\name=HMV
@@ -537,7 +537,7 @@ GranityVersionInt=11401
 67\scaling=1
 67\offset=0
 67\readonly=false
-67\value=10
+67\value=1
 67\min=1
 67\max=32767
 68\name=HMH
@@ -561,7 +561,7 @@ GranityVersionInt=11401
 70\scaling=1
 70\offset=0
 70\readonly=false
-70\value=0
+70\value=654050
 70\min=-536870912
 70\max=536870911
 71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11401
 71\scaling=1
 71\offset=0
 71\readonly=false
-71\value=0
+71\value=-654050
 71\min=-536870912
 71\max=536870911
 72\name=HMF
diff --git a/software/ros_packages/rover_arm/src/rover_arm.cpp b/software/ros_packages/rover_arm/src/rover_arm.cpp
index 2848d46..5b83132 100644
--- a/software/ros_packages/rover_arm/src/rover_arm.cpp
+++ b/software/ros_packages/rover_arm/src/rover_arm.cpp
@@ -54,7 +54,9 @@ public:
     void run(){
         char dir = 0;
 
-        printf("OK?: %d", ros::ok());
+        smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
+        smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
+        smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
 
         while(ros::ok()){
             smSetParameter(arm_bus_handle, device_address, SMP_FAULTS, 0);
@@ -86,18 +88,22 @@ public:
             dir = !dir;
 
             if(dir){
-                smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
-                smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
-                smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
+                smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, -50000);
+                smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, -50000);
+                smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, -50000);
             }else{
                 smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 50000);
-                smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 300000);
-                smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 250000);
+                smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 50000);
+                smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 50000);
             }
 
             ros::spinOnce();
         }
 
+        smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
+        smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
+        smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
+
         ROS_ERROR("Shutting down.");
     }
 private: