diff --git a/y2019/control_loops/drivetrain/drivetrain_base.cc b/y2019/control_loops/drivetrain/drivetrain_base.cc
index 0c34882..71f7cb9 100644
--- a/y2019/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_base.cc
@@ -26,7 +26,7 @@
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
-      ::frc971::control_loops::drivetrain::IMUType::IMU_Y,
+      ::frc971::control_loops::drivetrain::IMUType::IMU_X,
 
       drivetrain::MakeDrivetrainLoop,
       drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 1ad9582..5a8a772 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -53,10 +53,10 @@
   // TODO(sabina): set all the numbers to correctly match the robot.
 
   // Height above which we can move the wrist freely.
-  static constexpr double kElevatorClearHeight = 0.5;
+  static constexpr double kElevatorClearHeight = 0.35;
 
   // Height above which we can move the wrist down.
-  static constexpr double kElevatorClearWristDownHeight = 0.3;
+  static constexpr double kElevatorClearWristDownHeight = 0.25;
   // Height the carriage needs to be above to move the intake.
   static constexpr double kElevatorClearIntakeHeight = 0.4;
 
@@ -65,8 +65,8 @@
   static constexpr double kWristMinAngle = -M_PI / 2.0;
 
   // Angles outside of which the intake is fully clear of the wrist.
-  static constexpr double kIntakeOutAngle = M_PI / 6.0;
-  static constexpr double kIntakeInAngle = -M_PI / 3.0;
+  static constexpr double kIntakeOutAngle = 0.3;
+  static constexpr double kIntakeInAngle = -1.1;
 
   // Angles within which we will crash the wrist into the elevator if the
   // elevator is below kElevatorClearHeight.