diff --git a/src/main/java/frc/robot/RobotMap.java b/src/main/java/frc/robot/RobotMap.java
index 54e734d..bbdef99 100644
--- a/src/main/java/frc/robot/RobotMap.java
+++ b/src/main/java/frc/robot/RobotMap.java
@@ -38,4 +38,6 @@ public class RobotMap {
 
   public static final int hatchPotentiometer = 1;
 
+  public static final int POTENTIOMETER_RANGE_DEGREES = 3600;
+
 }
diff --git a/src/main/java/frc/robot/subsystems/CargoManipulator.java b/src/main/java/frc/robot/subsystems/CargoManipulator.java
index 034d11a..f651a98 100644
--- a/src/main/java/frc/robot/subsystems/CargoManipulator.java
+++ b/src/main/java/frc/robot/subsystems/CargoManipulator.java
@@ -25,6 +25,7 @@ public class CargoManipulator extends PIDSubsystem implements IPiston {
     public static final double MAXIMUM_SPEED = 0.9;
     public static final double INTAKE_SPEED = 0.7; // TODO: Test to find ideal intake speed value.
     public static final double RESTING_ANGLE = 0;
+    public static final double MAXIMUM_ANGLE = 11; // TODO: This is inaccurate, and is probably greater than 11 degrees in reality
     
     public double shootingSpeed = DEFAULT_SPEED; 
 
@@ -57,7 +58,7 @@ public CargoManipulator() {
         cargoPiston = new Piston(new FRCSolenoid(0, RobotMap.cargoPiston));
         
         cargoLimitSwitch = new LimitSwitch(RobotMap.cargoLimitSwitch);
-        cargoPotentiometer = new AnalogPotentiometer(RobotMap.cargoPotentiometer);
+        cargoPotentiometer = new AnalogPotentiometer(RobotMap.cargoPotentiometer, RobotMap.POTENTIOMETER_RANGE_DEGREES, 990); // TODO: the resting angle is somewhere around 990 degrees, but this estimate can be improved in testing
         
         cargoSpeedControllerWrist = new GTalonSRX(RobotMap.cargoWristMotor);
         cargoSpeedControllerWrist.setInverted(false);
@@ -73,7 +74,7 @@ public CargoManipulator() {
      */
     @Override
     public void initDefaultCommand() {
-        // setDefaultCommand(new ResetCargoManipulator()); TODO
+        // setDefaultCommand(new ResetCargoManipulator()); TODO enable this during testing
     }
 
     /**
diff --git a/src/main/java/frc/robot/subsystems/HatchManipulator.java b/src/main/java/frc/robot/subsystems/HatchManipulator.java
index ccafab3..e365b04 100644
--- a/src/main/java/frc/robot/subsystems/HatchManipulator.java
+++ b/src/main/java/frc/robot/subsystems/HatchManipulator.java
@@ -19,7 +19,7 @@ public class HatchManipulator extends PIDSubsystem implements IPiston {
 
     public static final double DEFAULT_SPEED = 0.1;
     public static final double TOP_ANGLE = 0;
-    public static final double BOTTOM_ANGLE = 90; // TODO: Find this
+    public static final double BOTTOM_ANGLE = 112; // TODO: The robot was on the tote for this measurement, we need to test it on the floor though to get an accurate measurement
     public static final double TOLERANCE = 10;
 
     private IPiston hatchPiston;
@@ -38,7 +38,7 @@ public HatchManipulator() {
         hatchSpeedController.setInverted(false);
         hatchSpeedController.useBrakeMode();
 
-        hatchPotentiometer = new AnalogPotentiometer(RobotMap.hatchPotentiometer, 360*10, 0);
+        hatchPotentiometer = new AnalogPotentiometer(RobotMap.hatchPotentiometer, RobotMap.POTENTIOMETER_RANGE_DEGREES, 1562); // TODO: the resting angle is somewhere around 1562 degrees, but this estimate can be improved in testing
         
     }
 
@@ -55,7 +55,7 @@ public HatchManipulator(IPiston piston, ITalonSRX talon, Potentiometer potentiom
     @Override
     public void initDefaultCommand() {
         // Set the default command for a subsystem here.
-        // setDefaultCommand(new ResetHatchManipulator()); TODO
+        // setDefaultCommand(new ResetHatchManipulator()); TODO enable this when testing
     }
 
     @Override