diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index 1443a48..28878a2 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -17,7 +17,7 @@
 namespace {
 
 // It has about 0.029043 of gearbox slop.
-const double kCompWristHallEffectStartAngle = 1.0872860614359172;
+const double kCompWristHallEffectStartAngle = 1.260;
 const double kPracticeWristHallEffectStartAngle = 1.0872860614359172;
 
 const double kCompWristHallEffectStopAngle = 100 * M_PI / 180.0;
@@ -40,7 +40,7 @@
 
 const int kAngleAdjustHallEffect = 2;
 
-const double kCompAngleAdjustHallEffectStartAngle[2] = {0.305432, 1.5};
+const double kCompAngleAdjustHallEffectStartAngle[2] = {0.305172594, 1.5};
 const double kPracticeAngleAdjustHallEffectStartAngle[2] = {0.305432, 1.5};
 
 const double kCompAngleAdjustHallEffectStopAngle[2] = {0.1, 1.0};
@@ -50,13 +50,13 @@
 const double kCompAngleAdjustUpperPhysicalLimit = 0.904737;
 
 const double kPracticeAngleAdjustLowerPhysicalLimit = 0.272451;
-const double kCompAngleAdjustLowerPhysicalLimit = 0.272451;
+const double kCompAngleAdjustLowerPhysicalLimit = 0.302;
 
 const double kPracticeAngleAdjustUpperLimit = 0.87;
 const double kCompAngleAdjustUpperLimit = 0.87;
 
 const double kPracticeAngleAdjustLowerLimit = 0.30;
-const double kCompAngleAdjustLowerLimit = 0.30;
+const double kCompAngleAdjustLowerLimit = 0.27;
 
 const double kAngleAdjustZeroingSpeed = -0.2;
 const double kAngleAdjustZeroingOffSpeed = -0.5;