diff --git a/frc971/constants.cc b/frc971/constants.cc
index a8898a8..b724d15 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -113,41 +113,40 @@
 
           // Motion ranges: hard_lower_limit, hard_upper_limit,
           //                soft_lower_limit, soft_upper_limit
-          // TODO(sensors): Get actual bounds before turning on robot.
           {// Claw values, in radians.
            // 0 is level with the ground.
            // Positive moves in the direction of positive encoder values.
-           {0.0000000000, 1.5700000000, 0.1000000000, 1.2000000000},
+           {-0.05, M_PI / 2.0 + 0.1, 0.0, M_PI / 2.0},
 
            // Zeroing constants for wrist.
-           {kZeroingSampleSize, kClawEncoderIndexDifference, 0.35},
+           {kZeroingSampleSize, kClawEncoderIndexDifference,
+            0.9},
 
-           0.0,
+           6.308141,
            kClawPistonSwitchTime,
            kClawZeroingRange},
 
           {// Elevator values, in meters.
-           // TODO(austin): Fix this.  Positive is up.
-           // 0 is at the top of the elevator frame.
-           // Positive is down towards the drivebase.
-           {0.0000000000, 0.6790000000, 0.2000000000, 0.6000000000},
+           // 0 is the portion of the elevator carriage that Spencer removed
+           // lining up with the bolt.
+           // Positive is up.
+           {-0.005, 0.679000, 0.010000, 0.650000},
 
            // Arm values, in radians.
            // 0 is sticking straight out horizontally over the intake/front.
            // Positive is rotating up and into the robot (towards the back).
-           {-1.570000000, 1.5700000000, -1.200000000, 1.2000000000},
+           {-M_PI / 2 - 0.05, M_PI / 2 + 0.05, -M_PI / 2, M_PI / 2},
 
            // Elevator zeroing constants: left, right.
-           // TODO(sensors): Get actual offsets for these.
            {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
            {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
            // Arm zeroing constants: left, right.
            {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
            {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
-           0.0,
-           0.0,
-           0.0,
-           0.0,
+           0.7,
+           -0.08,
+           -3.5 - 0.01 - -0.02,
+           3.5 - 0.17 - -0.15,
 
            kArmZeroingHeight,
            kElevatorNormalHeight,
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index f7b987c..0c2052d 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -149,7 +149,7 @@
       .angle(values.claw.wrist.lower_limit)
       .Send());
 
-  RunForTime(Time::InMS(4000));
+  RunForTime(Time::InSeconds(5));
 
   // We should not have moved.
   VerifyNearGoal();
@@ -165,7 +165,7 @@
       .angle(M_PI / 4.0)
       .Send());
 
-  RunForTime(Time::InMS(4000));
+  RunForTime(Time::InSeconds(5));
 
   ASSERT_TRUE(claw_queue_.status.FetchLatest());
   EXPECT_TRUE(claw_queue_.status->zeroed);
@@ -198,7 +198,7 @@
       .angle(M_PI / 4.0)
       .Send());
 
-  RunForTime(Time::InMS(4000));
+  RunForTime(Time::InSeconds(6));
 
   VerifyNearGoal();
 }
@@ -211,7 +211,7 @@
       .angle(values.claw.wrist.upper_hard_limit + 5.0)
       .Send());
 
-  RunForTime(Time::InMS(4000));
+  RunForTime(Time::InSeconds(5));
 
   claw_queue_.status.FetchLatest();
   EXPECT_NEAR(values.claw.wrist.upper_limit,
@@ -238,7 +238,7 @@
   ASSERT_TRUE(claw_queue_.goal.MakeWithBuilder()
       .angle(M_PI / 4.0)
       .Send());
-  RunForTime(Time::InMS(4000));
+  RunForTime(Time::InSeconds(5));
 
   VerifyNearGoal();
 }
@@ -251,7 +251,7 @@
       .angle(M_PI / 4.0)
       .Send());
   // Zeroing will take a long time here.
-  RunForTime(Time::InMS(12000));
+  RunForTime(Time::InSeconds(15));
 
   VerifyNearGoal();
 }
@@ -268,7 +268,7 @@
       .angle(M_PI / 4.0)
       .Send());
 
-  RunForTime(Time::InMS(4000));
+  RunForTime(Time::InSeconds(5));
   VerifyNearGoal();
 
   SimulateSensorReset();
@@ -278,7 +278,7 @@
 
   // Once again, it's going to take us awhile to rezero since we moved away from
   // our index pulse.
-  RunForTime(Time::InMS(10000));
+  RunForTime(Time::InSeconds(5));
   VerifyNearGoal();
 }