diff --git a/Robot/src/main/java/com/swrobotics/robot/Robot.java b/Robot/src/main/java/com/swrobotics/robot/Robot.java
index 3035465..4194209 100644
--- a/Robot/src/main/java/com/swrobotics/robot/Robot.java
+++ b/Robot/src/main/java/com/swrobotics/robot/Robot.java
@@ -124,7 +124,7 @@ public void robotInit() {
     public void robotPeriodic() {
         Threads.setCurrentThreadPriority(true, 99);
 
-        robotContainer.messenger.readMessages();
+        // robotContainer.messenger.readMessages();
         ThreadUtils.runMainThreadOperations();
         CommandScheduler.getInstance().run(); // Leave this alone
     }
diff --git a/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java b/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
index ed0b737..3bd38b2 100644
--- a/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
+++ b/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
@@ -47,17 +47,17 @@
  */
 public class RobotContainer {
     // Configuration for our Raspberry Pi communication service
-    private static final String MESSENGER_HOST_ROBOT = "10.21.29.3";
-    private static final String MESSENGER_HOST_SIM = "localhost";
-    private static final int MESSENGER_PORT = 5805;
-    private static final String MESSENGER_NAME = "Robot";
+    // private static final String MESSENGER_HOST_ROBOT = "10.21.29.3";
+    // private static final String MESSENGER_HOST_SIM = "localhost";
+    // private static final int MESSENGER_PORT = 5805;
+    // private static final String MESSENGER_NAME = "Robot";
 
     // Create a way to choose between autonomous sequences
     private final LoggedDashboardChooser<Command> autoSelector;
     private final LoggedDashboardChooser<String> musicSelector;
     private final LoggedDashboardChooser<Double> autoDelaySelector;
 
-    public final MessengerClient messenger;
+    // public final MessengerClient messenger;
     public final ControlBoard controlboard;
 
     public final PowerDistribution pdp;
@@ -87,13 +87,13 @@ public RobotContainer() {
         DriverStation.silenceJoystickConnectionWarning(RobotBase.isSimulation());
 
         // Initialize Messenger
-        String host = RobotBase.isSimulation() ? MESSENGER_HOST_SIM : MESSENGER_HOST_ROBOT;
-        messenger = new MessengerClient(host, MESSENGER_PORT, MESSENGER_NAME);
-        new FileSystemAPI(messenger, "RoboRIO", Filesystem.getOperatingDirectory());
+        // String host = RobotBase.isSimulation() ? MESSENGER_HOST_SIM : MESSENGER_HOST_ROBOT;
+        // messenger = new MessengerClient(host, MESSENGER_PORT, MESSENGER_NAME);
+        // new FileSystemAPI(messenger, "RoboRIO", Filesystem.getOperatingDirectory());
 
         pdp = new PowerDistribution(IOAllocation.CAN.PDP.id(), PowerDistribution.ModuleType.kRev);
 
-        drive = new SwerveDrive(FieldInfo.CRESCENDO_2024, messenger);
+        drive = new SwerveDrive(FieldInfo.CRESCENDO_2024/*, messenger*/);
 
         intake = new IntakeSubsystem(pdp);
         indexer = new IndexerSubsystem(intake);
diff --git a/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java b/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
index 3f1530b..edd01f9 100644
--- a/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
+++ b/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
@@ -347,6 +347,11 @@ public void periodic() {
         } else {
             waitingForArmRetract = false;
         }
+
+        if (ampArmPos == AmpArm2Subsystem.Position.AMP) {
+            NTData.AMP_ARM_EXTEND_POS.set(NTData.AMP_ARM_EXTEND_POS.get() + -operator.leftStickY.get() * 10 / 20);
+        }
+
         robot.ampArm2.setPosition(ampArmPos);
         robot.climber.setState(climbState.climberState);
 
diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/amp/AmpArm2Subsystem.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/amp/AmpArm2Subsystem.java
index 5c475a3..aa39824 100644
--- a/Robot/src/main/java/com/swrobotics/robot/subsystems/amp/AmpArm2Subsystem.java
+++ b/Robot/src/main/java/com/swrobotics/robot/subsystems/amp/AmpArm2Subsystem.java
@@ -29,7 +29,7 @@ public final class AmpArm2Subsystem extends SubsystemBase {
     private static final double motorToArmRatio = 50;
     private static final double encoderToArmRatio = 2;
 
-    private static final double cancoderOffset = 0.045410;
+    private static final double cancoderOffset = 0.317627;
 
     private Position targetPos;
 
diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveDrive.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveDrive.java
index 39bb17e..3c01105 100644
--- a/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveDrive.java
+++ b/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveDrive.java
@@ -90,7 +90,7 @@ public static record TurnRequest(int priority, Rotation2d turn) {
     private TurnRequest currentTurnRequest;
     private int lastSelectedPriority;
 
-    public SwerveDrive(FieldInfo fieldInfo, MessengerClient msg) {
+    public SwerveDrive(FieldInfo fieldInfo/*, MessengerClient msg*/) {
         this.fieldInfo = fieldInfo;
         gyro = new AHRS(SPI.Port.kMXP);
 
@@ -138,7 +138,7 @@ public SwerveDrive(FieldInfo fieldInfo, MessengerClient msg) {
 
         // Pathfinding.setPathfinder(new LocalADStar());
 //        Pathfinding.setPathfinder(new ThetaStarPathfinder(msg));
-        Pathfinding.setPathfinder(new ArcPathfinder(msg));
+        // Pathfinding.setPathfinder(new ArcPathfinder(msg));
         PathPlannerLogging.setLogActivePathCallback(
                 (activePath) -> {
                     Logger.recordOutput(