diff --git a/src/CAN/CANMotor.cpp b/src/CAN/CANMotor.cpp
index a68eda07..3e435575 100644
--- a/src/CAN/CANMotor.cpp
+++ b/src/CAN/CANMotor.cpp
@@ -92,6 +92,13 @@ void setMotorPIDConstants(deviceserial_t serial, int32_t kP, int32_t kI, int32_t
 	std::this_thread::sleep_for(1ms);
 }
 
+void setMotorPIDMaxPower(deviceserial_t serial, uint16_t maxPower) {
+	CANPacket p;
+	auto motorGroupCode = static_cast<uint8_t>(devicegroup_t::motor);
+	AssembleMaxPIDPWMPacket(&p, motorGroupCode, serial, maxPower);
+	sendCANPacket(p);
+}
+
 void setMotorMode(deviceserial_t serial, motormode_t mode) {
 	CANPacket p;
 	AssembleModeSetPacket(&p, static_cast<uint8_t>(devicegroup_t::motor), serial,
diff --git a/src/CAN/CANMotor.h b/src/CAN/CANMotor.h
index 7c092227..3e5f0213 100644
--- a/src/CAN/CANMotor.h
+++ b/src/CAN/CANMotor.h
@@ -136,6 +136,8 @@ void setMotorPower(deviceserial_t serial, int16_t power);
  */
 void setMotorPIDTarget(deviceserial_t serial, int32_t target);
 
+void setMotorPIDMaxPower(deviceserial_t serial, uint16_t maxPower);
+
 /**
  * @brief Set the angle of the PCA servo
  *
diff --git a/src/Constants.h b/src/Constants.h
index b452cadf..cbcfecf8 100644
--- a/src/Constants.h
+++ b/src/Constants.h
@@ -183,8 +183,8 @@ constexpr frozen::unordered_map<robot::types::motorid_t, std::pair<int, int>, IK
  * Map from motor ids to segment length in meters
  */
 constexpr frozen::unordered_map<robot::types::motorid_t, double, IK_MOTORS.size()>
-	SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.3848608},
-					{robot::types::motorid_t::elbow, 0.461264}};
+	SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.394},
+					{robot::types::motorid_t::elbow, 0.749}};
 } // namespace arm
 
 namespace autonomous {
diff --git a/src/TunePID.cpp b/src/TunePID.cpp
index 9f6675d3..78792dad 100644
--- a/src/TunePID.cpp
+++ b/src/TunePID.cpp
@@ -18,7 +18,8 @@ extern "C" {
 }
 
 enum class targetmode_t {
-	step, sinusoidal
+	step,
+	sinusoidal
 };
 
 using namespace robot::types;
@@ -76,8 +77,11 @@ bool initMotor(motorid_t motor) {
 		robot::encparams_t enc_params = robot::encMotors.at(motor);
 		can::motor::initEncoder(serial, enc_params.isInverted, true, enc_params.ppjr,
 								robot::TELEM_PERIOD);
-		can::motor::setLimitSwitchLimits(serial, enc_params.limitSwitchLow,
-										 enc_params.limitSwitchHigh);
+		auto mDegToPulses = [&](int32_t mdeg) {
+			return static_cast<int32_t>((double)mdeg / 360000.0 * enc_params.ppjr);
+		};
+		can::motor::setLimitSwitchLimits(serial, mDegToPulses(enc_params.limitSwitchLow),
+										 mDegToPulses(enc_params.limitSwitchHigh));
 	} else {
 		std::cerr << "The given motor is not a pot or enc motor!\n";
 		return false;
@@ -132,13 +136,14 @@ int main(int argc, char** argv) {
 	std::getline(std::cin, str);
 	int d_coeff = std::stoi(str);
 
-	can::motor::setMotorMode(serial, can::motor::motormode_t::pid);
 	can::motor::setMotorPIDConstants(serial, p_coeff, i_coeff, d_coeff);
+	can::motor::setMotorPIDMaxPower(serial, 32767);
+	can::motor::setMotorMode(serial, can::motor::motormode_t::pid);
 
 	double period = 8.0;
 
 	std::this_thread::sleep_for(300ms); // wait for encoder position data to arrive
-	int32_t starting_angle = can::motor::getMotorPosition(serial);
+	int32_t starting_angle = can::motor::getMotorPosition(serial).getData();
 	int32_t angle_target = starting_angle;
 	double acc_error = 0.0;
 	int total_steps = 0;
@@ -159,7 +164,7 @@ int main(int argc, char** argv) {
 		if (mode == targetmode_t::step) {
 			prescaled_target = round(prescaled_target);
 		}
-		angle_target = (int32_t) round(amplitude * prescaled_target) + starting_angle;
+		angle_target = (int32_t)round(amplitude * prescaled_target) + starting_angle;
 
 		can::motor::setMotorPIDTarget(serial, angle_target);
 
diff --git a/src/control/PlanarArmController.h b/src/control/PlanarArmController.h
index 9ad79f65..41228864 100644
--- a/src/control/PlanarArmController.h
+++ b/src/control/PlanarArmController.h
@@ -210,12 +210,15 @@ class PlanarArmController {
 	 */
 	navtypes::Vectord<N> getCommand(robot::types::datatime_t currTime,
 									const navtypes::Vectord<N>& currJointPos) {
+		LOG_SCOPE_F(INFO, "IK getCommand");
 		Eigen::Vector2d newPos = get_setpoint(currTime);
 		// lock after calling get_setpoint since that internally locks the mutex
 		std::lock_guard<std::mutex> lock(mutex);
 
 		// get new joint positions for target EE
 		bool success = false;
+		LOG_F(INFO, "newPos=[%.2f, %.2f]", newPos(0), newPos(1));
+		LOG_F(INFO, "currJP=[%.2f, %.2f]", currJointPos(0), currJointPos(1));
 		navtypes::Vectord<N> jp = kin.eePosToJointPos(newPos, currJointPos, success);
 		mutableFields->velTimestamp = currTime;
 		if (!success) {
diff --git a/src/world_interface/real_world_constants.h b/src/world_interface/real_world_constants.h
index d17e621c..e8e06875 100644
--- a/src/world_interface/real_world_constants.h
+++ b/src/world_interface/real_world_constants.h
@@ -59,7 +59,7 @@ struct encparams_t {
 // clang-format off
 constexpr auto encMotors = frozen::make_unordered_map<motorid_t, encparams_t>({
 	{motorid_t::shoulder,
-		{.isInverted = true,
+		{.isInverted = false,
 		.ppjr = 4590 * 1024 * 4,
 		.limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).first,
 		.limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).second,
@@ -69,6 +69,7 @@ constexpr auto encMotors = frozen::make_unordered_map<motorid_t, encparams_t>({
 
 // TODO: find appropriate bounds
 constexpr auto potMotors = frozen::make_unordered_map<motorid_t, potparams_t>({
+	{motorid_t::elbow, {.adc_lo = 563, .mdeg_lo = -160000, .adc_hi = 1927, .mdeg_hi = 0}},
 	{motorid_t::forearm,
 	 {.adc_lo = 1208, .mdeg_lo = -180 * 1000, .adc_hi = 841, .mdeg_hi = 180 * 1000}},
 	{motorid_t::wristDiffLeft,
@@ -107,7 +108,8 @@ constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::dev
 
 /** @brief A mapping of PID controlled motors to their pid coefficients. */
 constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
-	{{motorid_t::shoulder, {70, 0, 0}},
+	{{motorid_t::shoulder, {200, 0, 0}},
+	 {motorid_t::elbow, {250, 0, 0}},
 	 {motorid_t::frontLeftSwerve, {2, 0, 0}},
 	 {motorid_t::frontRightSwerve, {2, 0, 0}},
 	 {motorid_t::rearLeftSwerve, {2, 0, 0}},
@@ -119,8 +121,8 @@ constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
  */
 constexpr auto positive_pwm_scales =
 	frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
-												   {motorid_t::shoulder, -1},
-												   {motorid_t::elbow, -1},
+												   {motorid_t::shoulder, 1},
+												   {motorid_t::elbow, 1},
 												   {motorid_t::forearm, -0.2},
 												   {motorid_t::wristDiffLeft, -0.30},
 												   {motorid_t::wristDiffRight, -0.30},
@@ -141,8 +143,8 @@ constexpr auto positive_pwm_scales =
  */
 constexpr auto negative_pwm_scales =
 	frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
-												   {motorid_t::shoulder, -1},
-												   {motorid_t::elbow, -1},
+												   {motorid_t::shoulder, 1},
+												   {motorid_t::elbow, 1},
 												   {motorid_t::forearm, -0.2},
 												   {motorid_t::wristDiffLeft, -0.30},
 												   {motorid_t::wristDiffRight, -0.30},
diff --git a/src/world_interface/real_world_interface.cpp b/src/world_interface/real_world_interface.cpp
index c1d73c2b..c8d9c627 100644
--- a/src/world_interface/real_world_interface.cpp
+++ b/src/world_interface/real_world_interface.cpp
@@ -84,8 +84,12 @@ void initMotors() {
 
 		can::motor::initEncoder(serial, enc_params.isInverted, true, enc_params.ppjr,
 								TELEM_PERIOD);
-		can::motor::setLimitSwitchLimits(serial, enc_params.limitSwitchLow,
-										 enc_params.limitSwitchHigh);
+		auto mDegToPulses = [&](int32_t mdeg) {
+			return static_cast<int32_t>((double)mdeg / 360000.0 * enc_params.ppjr);
+		};
+		// inverted because of weirdness
+		can::motor::setLimitSwitchLimits(serial, mDegToPulses(-enc_params.limitSwitchLow),
+										 mDegToPulses(-enc_params.limitSwitchHigh));
 	}
 
 	for (const auto& pair : robot::motorPIDMap) {