diff --git a/advantagescope/Robot_Axolotl/config.json b/advantagescope/Robot_Axolotl/config.json
index e0f0bdf..8977c5d 100755
--- a/advantagescope/Robot_Axolotl/config.json
+++ b/advantagescope/Robot_Axolotl/config.json
@@ -108,7 +108,7 @@
         "zeroedRotations": [
             {
             "axis": "x",
-            "degrees": 0
+            "degrees": 90
         },
         {
             "axis": "y",
@@ -116,9 +116,9 @@
         },
         {
             "axis": "z",
-            "degrees": -90
+            "degrees": -270
         }],
-        "zeroedPosition": [-0.73, 0, -0.39]
+        "zeroedPosition": [-0.39, 0, -0.73]
     },
     {
         "zeroedRotations": [
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 556e82a..aea31d6 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -263,7 +263,7 @@ public static class LEDConstants {
     }
 
     public static class ModelConstants {
-        // Offsets of each major subsytem, in meters, relative to 
+        // Offsets of each major subsytem, in meters, relative to
         // robot center (floor), for use with the AdvantageScope model.
         public static final Pose3d ELEVATOR_OFFSET = new Pose3d(0.1905, 0.0, 0.26, new Rotation3d());
         public static final Pose3d ELBOW_OFFSET = new Pose3d(0.26, 0.0, 0.29, new Rotation3d());
@@ -275,7 +275,7 @@ public static class ModelConstants {
         /** Angle limits, in radians, of the climber. */
         public static final double UPPIES_MIN_ANGLE = -0.2, UPPIES_MAX_ANGLE = -2;
         /** Angle limits, in radians, of the wrist. */
-        public static final double WRIST_MIN_ANGLE = 2.6, WRIST_MAX_ANGLE = -0.7;        
+        public static final double WRIST_MIN_ANGLE = 2.25, WRIST_MAX_ANGLE = -1.05;
     }
 
 }