diff --git a/motors/seems_reasonable/spring.cc b/motors/seems_reasonable/spring.cc
index 7cf80c1..1127aa9 100644
--- a/motors/seems_reasonable/spring.cc
+++ b/motors/seems_reasonable/spring.cc
@@ -29,7 +29,7 @@
 }
 
 void Spring::Iterate(bool unload, bool prime, bool fire, bool force_reset,
-                     bool encoder_valid, float angle) {
+                     bool force_move, bool encoder_valid, float angle) {
   // Angle is +- M_PI.  So, we need to find the nearest angle to the previous
   // one, and that's our new angle.
   angle_ = ::frc971::zeroing::Wrap(angle_, angle, kTwoPi);
@@ -39,12 +39,21 @@
       // Go to the previous unload from where we are.
       goal_ = angle_;
       goal_ = PreviousGoal(kUnloadGoal);
-      if (prime && fire) {
+      if (force_move) {
+        ForceMove();
+      } else if (prime && fire) {
         Unload();
       }
       break;
+    case State::FORCE_MOVE:
+      if (!force_move) {
+        state_ = State::UNINITIALIZED;
+      }
+      break;
     case State::UNLOAD:
-      if (!encoder_valid) {
+      if (force_move) {
+        ForceMove();
+      } else if (!encoder_valid) {
         state_ = State::STUCK_UNLOAD;
       } else if (!unload && prime && fire) {
         // Go to the next goal from the current location.  This handles if we
@@ -54,14 +63,19 @@
         Load();
       }
     case State::STUCK_UNLOAD:
-      if (force_reset && encoder_valid && state_ == State::STUCK_UNLOAD) {
+      if (force_move) {
+        ForceMove();
+      } else if (force_reset && encoder_valid &&
+                 state_ == State::STUCK_UNLOAD) {
         state_ = State::UNINITIALIZED;
       } else if (timeout_ > 0) {
         --timeout_;
       }
       break;
     case State::LOAD:
-      if (!encoder_valid) {
+      if (force_move) {
+        ForceMove();
+      } else if (!encoder_valid) {
         goal_ = PreviousGoal(kUnloadGoal);
         StuckUnload();
       } else if (unload) {
@@ -79,7 +93,9 @@
       }
       break;
     case State::PRIME:
-      if (!encoder_valid) {
+      if (force_move) {
+        ForceMove();
+      } else if (!encoder_valid) {
         goal_ = PreviousGoal(kUnloadGoal);
         StuckUnload();
       } else if (unload) {
@@ -101,7 +117,9 @@
       break;
 
     case State::FIRE:
-      if (!encoder_valid) {
+      if (force_move) {
+        ForceMove();
+      } else if (!encoder_valid) {
         goal_ = PreviousGoal(kUnloadGoal);
         StuckUnload();
       } else if (!Near()) {
@@ -120,7 +138,9 @@
       }
       break;
     case State::WAIT_FOR_LOAD:
-      if (!encoder_valid) {
+      if (force_move) {
+        ForceMove();
+      } else if (!encoder_valid) {
         StuckUnload();
       } else if (unload) {
         // Goal is as good as it is going to get since unload is the fire
@@ -131,7 +151,9 @@
       }
       break;
     case State::WAIT_FOR_LOAD_RELEASE:
-      if (!encoder_valid) {
+      if (force_move) {
+        ForceMove();
+      } else if (!encoder_valid) {
         StuckUnload();
       } else if (unload) {
         // Goal is as good as it is going to get since unload is the fire
@@ -159,6 +181,10 @@
       }
       break;
 
+    case State::FORCE_MOVE:
+      output_ = 1.0f;
+      break;
+
     case State::LOAD:
     case State::PRIME:
     case State::FIRE:
diff --git a/motors/seems_reasonable/spring.h b/motors/seems_reasonable/spring.h
index c7c923a..90c9cd1 100644
--- a/motors/seems_reasonable/spring.h
+++ b/motors/seems_reasonable/spring.h
@@ -21,7 +21,7 @@
   // If prime is true, go to primed state.
   // If prime and fire are true, fire.
   void Iterate(bool unload, bool prime, bool fire, bool force_reset,
-               bool encoder_valid, float angle);
+               bool force_move, bool encoder_valid, float angle);
 
   enum class State {
     UNINITIALIZED = 0,
@@ -32,6 +32,7 @@
     FIRE = 5,
     WAIT_FOR_LOAD = 6,
     WAIT_FOR_LOAD_RELEASE = 7,
+    FORCE_MOVE = 8,
   };
 
   // Returns the current to output to the spring motors.
@@ -58,13 +59,18 @@
     state_ = State::PRIME;
   }
 
+  void ForceMove() {
+    timeout_ = 0;
+    state_ = State::FORCE_MOVE;
+  }
+
   void Unload() {
-    timeout_ = 10 * 200;
+    timeout_ = 14 * 200;
     state_ = State::UNLOAD;
   }
 
   void StuckUnload() {
-    timeout_ = 10 * 200;
+    timeout_ = 14 * 200;
     state_ = State::STUCK_UNLOAD;
   }
 
@@ -86,7 +92,7 @@
   // Note, these need to be (-M_PI, M_PI]
   constexpr static float kLoadGoal = -0.345f;
   constexpr static float kPrimeGoal = -0.269f;
-  constexpr static float kFireGoal = -0.163f;
+  constexpr static float kFireGoal = -0.063f;
   constexpr static float kUnloadGoal = kFireGoal;
 
   float angle_ = 0.0f;
diff --git a/motors/simple_receiver.cc b/motors/simple_receiver.cc
index 20ca298..f8b38f0 100644
--- a/motors/simple_receiver.cc
+++ b/motors/simple_receiver.cc
@@ -533,15 +533,17 @@
     ++invalid_encoder_count;
   }
 
-  const bool lost_any_channel = lost_channel(0) || lost_channel(1) ||
-                                lost_channel(2) || lost_channel(3) ||
-                                lost_channel(4) ||
-                                (::std::abs(convert_input_width(4)) < 0.5f);
+  const bool lost_spring_channel = lost_channel(2) || lost_channel(3) ||
+                                   lost_channel(4) || lost_channel(5) ||
+                                   (convert_input_width(4) < 0.5f);
+
+  const bool lost_drive_channel = lost_channel(0) || lost_channel(1) ||
+                                  (::std::abs(convert_input_width(4)) < 0.5f);
 
   if (polydrivetrain != nullptr && spring != nullptr) {
     DrivetrainQueue_Goal goal;
     goal.control_loop_driving = false;
-    if (lost_any_channel) {
+    if (lost_drive_channel) {
       goal.throttle = 0.0f;
       goal.wheel = 0.0f;
     } else {
@@ -562,16 +564,18 @@
     vesc_set_duty(2, output.right_voltage / 12.0f);
     vesc_set_duty(3, output.right_voltage / 12.0f);
 
-    bool prime = convert_input_width(2) > 0.1f;
-    bool fire = convert_input_width(3) > 0.1f;
+    const bool prime = convert_input_width(2) > 0.1f;
+    const bool fire = convert_input_width(3) > 0.1f;
+    const bool force_move =
+        (convert_input_width(5) > 0.1f) && !lost_spring_channel;
 
-    bool unload = lost_any_channel;
+    bool unload = lost_spring_channel;
     static bool was_lost = true;
-    bool force_reset = !lost_any_channel && was_lost;
-    was_lost = lost_any_channel;
+    bool force_reset = !lost_spring_channel && was_lost;
+    was_lost = lost_spring_channel;
 
-    spring->Iterate(unload, prime, fire, force_reset, invalid_encoder_count <= 2,
-                    last_good_encoder);
+    spring->Iterate(unload, prime, fire, force_reset, force_move,
+                    invalid_encoder_count <= 2, last_good_encoder);
 
     float spring_output = spring->output();
 
@@ -597,16 +601,18 @@
     ++i;
     if (i > 20) {
       i = 0;
-      if (lost_any_channel) {
-        printf("200Hz loop, disabled %d %d %d %d %d\n",
+      if (lost_spring_channel || lost_drive_channel) {
+        printf("200Hz loop, disabled %d %d %d %d %d %d\n",
                (int)(convert_input_width(0) * 1000),
                (int)(convert_input_width(1) * 1000),
                (int)(convert_input_width(2) * 1000),
                (int)(convert_input_width(3) * 1000),
-               (int)(convert_input_width(4) * 1000));
+               (int)(convert_input_width(4) * 1000),
+               (int)(convert_input_width(5) * 1000));
       } else {
         printf(
-            "TODO(Austin): 200Hz loop %d %d %d %d %d, lr, %d, %d velocity %d "
+            "TODO(Austin): 200Hz loop %d %d %d %d %d %d, lr, %d, %d velocity %d
+    "
             " state: %d, near %d angle %d goal %d to: %d ADC %" PRIu16
             " %" PRIu16 " enc %d/1000 %s from %d\n",
             (int)(convert_input_width(0) * 1000),
@@ -614,6 +620,7 @@
             (int)(convert_input_width(2) * 1000),
             (int)(convert_input_width(3) * 1000),
             (int)(convert_input_width(4) * 1000),
+            (int)(convert_input_width(5) * 1000),
             static_cast<int>(output.left_voltage * 100),
             static_cast<int>(output.right_voltage * 100),
             static_cast<int>(polydrivetrain->velocity() * 100),
@@ -772,7 +779,9 @@
   NVIC_ENABLE_IRQ(IRQ_FTM0);
   NVIC_ENABLE_IRQ(IRQ_FTM3);
   NVIC_ENABLE_IRQ(IRQ_PIT_CH3);
+  printf("Done starting up2\n");
 
+  //DoReceiverTest2();
   while (true) {
   }
 
diff --git a/y2018/constants.cc b/y2018/constants.cc
index 42c8501..2ad0c97 100644
--- a/y2018/constants.cc
+++ b/y2018/constants.cc
@@ -118,13 +118,13 @@
       right_intake->potentiometer_offset = 9.59 + 1.530320 - 3.620648;
       right_intake->spring_offset = 0.255 + 0.008 - 0.09;
 
-      arm_proximal->zeroing.measured_absolute_position = 0.1877 + 0.02 + 0.1;
-      arm_proximal->potentiometer_offset = -1.242 - 0.03 - 0.1;
+      arm_proximal->zeroing.measured_absolute_position = -0.253183 + 1.0652774488034022 + 0.009566448803402405;
+      arm_proximal->potentiometer_offset = -1.242 - 0.03 - 0.1 - 1.0652;
 
       arm_distal->zeroing.measured_absolute_position =
-          1.102987 - kDistalZeroingPosition + 0.12 + 0.0095;
+          1.102987 - kDistalZeroingPosition + 0.12 + 0.0095 + 0.22300918279692628;
       arm_distal->potentiometer_offset =
-          2.772210 + M_PI + 0.434 - 0.12 + 1.25 - 0.226 + 0.862067;
+          2.772210 + M_PI + 0.434 - 0.12 + 1.25 - 0.226 + 0.862067 - 0.121925182796926;
       break;
 
     default: