diff --git a/src/main/java/frc/robot/RobotConstants.java b/src/main/java/frc/robot/RobotConstants.java
index 9f4003f..9564110 100644
--- a/src/main/java/frc/robot/RobotConstants.java
+++ b/src/main/java/frc/robot/RobotConstants.java
@@ -404,6 +404,7 @@ public static class ElevatorConstants {
         public static final double ELEVATOR_SPOOL_DIAMETER = 0.04 + 0.003; //0.04m for spool diameter, 0.003 for rope diameter
         public static final double ELEVATOR_GEAR_RATIO = 3.0;
         public static final double ELEVATOR_DANGER_ZONE = 0.4180619200456253;
+        public static final double ELEVATOR_DEFAULT_POSITION_WHEN_DISABLED = 0.46;
 
         public static final TunableNumber motionAcceleration = new TunableNumber("Elevator/MotionAcceleration",
                 200);
@@ -426,9 +427,9 @@ public static class ElevatorConstants {
         public static final TunableNumber L4_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/L4",
                 1.57);
         public static final TunableNumber P1_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/P1",
-                0.79);
+                0.50);
         public static final TunableNumber P2_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/P2",
-                1.29);
+                0.80);
         public static final TunableNumber FUNNEL_INTAKE_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/FunnnelIntake",
                 0.35);
         public static final TunableNumber ELEVATOR_ZEROING_CURRENT = new TunableNumber("Elevator zeroing current",
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java b/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java
index 5132ef6..06dce6f 100644
--- a/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java
+++ b/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java
@@ -54,6 +54,15 @@ public ClimberIOReal() {
         motionMagicConfigs.MotionMagicJerk = ClimberConstants.CLIMBER_JERK.get();
         config.withMotionMagic(motionMagicConfigs);
 
+        BaseStatusSignal.setUpdateFrequencyForAll(
+                50.0,
+                velocityRotPerSec,
+                tempCelsius,
+                appliedVolts,
+                supplyCurrentAmps,
+                statorCurrentAmps,
+                currentPositionRot);
+
         motor.getConfigurator().apply(config);
         motor.optimizeBusUtilization();
     }
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
index 3197248..e0f89e3 100644
--- a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
@@ -4,6 +4,8 @@
 import frc.robot.utils.TunableNumber;
 import org.littletonrobotics.junction.Logger;
 
+//TODO: change motion logic and reset command afterwards
+
 public class ClimberSubsystem extends SubsystemBase {
     private final ClimberIO io;
     private final ClimberIOInputsAutoLogged inputs = new ClimberIOInputsAutoLogged();
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java
index de58057..dd5c421 100644
--- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java
@@ -54,8 +54,8 @@ public ElevatorIOReal() {
         currentLimitsConfigs.StatorCurrentLimit = 80.0;
         currentLimitsConfigs.SupplyCurrentLimit = 30.0;
 
-        leader.setPosition(heightToTalonPos(0.4));
-        follower.setPosition(heightToTalonPos(0.4));
+        leader.setPosition(heightToTalonPos(ELEVATOR_DEFAULT_POSITION_WHEN_DISABLED));
+        follower.setPosition(heightToTalonPos(ELEVATOR_DEFAULT_POSITION_WHEN_DISABLED));
 
         MotorOutputConfigs leaderMotorConfigs = new MotorOutputConfigs();
         leaderMotorConfigs.NeutralMode = NeutralModeValue.Brake;
diff --git a/src/main/java/frc/robot/utils/DestinationSupplier.java b/src/main/java/frc/robot/utils/DestinationSupplier.java
index e0ab5dc..754515e 100644
--- a/src/main/java/frc/robot/utils/DestinationSupplier.java
+++ b/src/main/java/frc/robot/utils/DestinationSupplier.java
@@ -48,27 +48,19 @@ public void updateChassisSetpoint(chassisSetpoint setpoint) {
     public double getElevatorSetpoint(boolean useCoral) {
         this.useCoral = useCoral;
         if (useCoral) {
-            switch (currentElevSetpointCoral) {
-                case L1:
-                    return RobotConstants.ElevatorConstants.L1_EXTENSION_METERS.get();
-                case L2:
-                    return RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
-                case L3:
-                    return RobotConstants.ElevatorConstants.L3_EXTENSION_METERS.get();
-                case L4:
-                    return RobotConstants.ElevatorConstants.L4_EXTENSION_METERS.get();
-                default:
-                    return RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
-            }
+            return switch (currentElevSetpointCoral) {
+                case L1 -> RobotConstants.ElevatorConstants.L1_EXTENSION_METERS.get();
+                case L2 -> RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
+                case L3 -> RobotConstants.ElevatorConstants.L3_EXTENSION_METERS.get();
+                case L4 -> RobotConstants.ElevatorConstants.L4_EXTENSION_METERS.get();
+                default -> RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
+            };
         }else{
-            switch (currentElevSetpointPoke) {
-                case P1:
-                    return RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
-                case P2:
-                    return RobotConstants.ElevatorConstants.P2_EXTENSION_METERS.get();
-                default:
-                    return RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
-            }
+            return switch (currentElevSetpointPoke) {
+                case P1 -> RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
+                case P2 -> RobotConstants.ElevatorConstants.P2_EXTENSION_METERS.get();
+                default -> RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
+            };
         }
     }