diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7a7438c..4a9ca69 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -196,7 +196,6 @@ private void configureBindings() {
 		// left bumper -> rotate to note
 		// driverController.leftBumper().whileTrue(new GamePieceVision(vision, swerve));
 		driverController.a().onTrue(teleopSwerve.toggleFieldRelative());
-		driverController.b().onTrue(new SetShooterVelocity(shooter, 2250));
 		driverController.x().whileTrue(new XStance(swerve));
 		driverController.y().onTrue(teleopSwerve.zeroYaw());
 
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index 4fe0052..4a658da 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -53,8 +53,8 @@ public Arm() {
 
 		leadMotor.setSoftLimit(SoftLimitDirection.kForward, (float) (110 + shaftEncoderOffset_deg));
 		leadMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) (-1.5 + shaftEncoderOffset_deg));
-		leadMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
-		leadMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
+		leadMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
+		leadMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
 
 		followerMotor.restoreFactoryDefaults();
 		followerMotor.setIdleMode(IdleMode.kBrake);