diff --git a/.github/workflows/pr.yml b/.github/workflows/pr.yml
index 499918f..167c055 100644
--- a/.github/workflows/pr.yml
+++ b/.github/workflows/pr.yml
@@ -12,7 +12,7 @@ jobs:
     permissions:
       actions: read
       contents: write
-      security-events: write
+      security-events: write 
 
     strategy:
       fail-fast: false
@@ -83,5 +83,6 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+        SONAR_HOST_URL: https://sonarcloud.io
         PACKAGE_FETCH_ACTOR: ${{ github.actor }}
         PACKAGE_FETCH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/src/main/java/poplib/subsytems/pivot/TalonPivot.java b/src/main/java/poplib/subsytems/pivot/TalonPivot.java
index 2b24d9a..0c25eb3 100644
--- a/src/main/java/poplib/subsytems/pivot/TalonPivot.java
+++ b/src/main/java/poplib/subsytems/pivot/TalonPivot.java
@@ -1,12 +1,7 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package poplib.subsytems.pivot;
 
 import com.ctre.phoenix6.controls.PositionDutyCycle;
 import com.ctre.phoenix6.hardware.TalonFX;
-
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import poplib.control.FFConfig;
 import poplib.motor.FollowerConfig;
@@ -35,7 +30,8 @@ public TalonPivot(MotorConfig leadConfig, FollowerConfig followerConfig, double
         position = new PositionDutyCycle(0.0);
         position.withSlot(leadMotor.getClosedLoopSlot().getValue());
 
-        resetToAbsolutePosition();
+        leadMotor.setPosition(0.0);
+
     }
 
     public boolean atSetpoint(double error, double setpoint) {
@@ -46,15 +42,20 @@ public double getError(double setpoint) {
         return Math.abs(leadMotor.getPosition().getValueAsDouble() - setpoint);
     }
 
+    public void updatePID() {
+        leadMotor.setControl(position.withPosition(super.setpoint.get()).withFeedForward(super.ff.getKg()));
+    }
+
     @Override
     public void log() {
         super.log();
-        SmartDashboard.putNumber("Lead Position 2 " + getName(), leadMotor.getPosition().getValueAsDouble());
+        SmartDashboard.putNumber("Lead Position " + getName(), leadMotor.getPosition().getValueAsDouble());
     }
 
     @Override
     public void periodic() {
         pid.updatePID(leadMotor);
+        leadMotor.setControl(position.withPosition(super.setpoint.get()).withFeedForward(super.ff.getKg()));
         leadMotor.setControl(position.withPosition(super.setpoint.get()).withFeedForward(super.ff.calculate(
             Math.toRadians(leadMotor.getPosition().getValueAsDouble()),
             0.0
@@ -65,4 +66,4 @@ public void periodic() {
     public void resetToAbsolutePosition() {
         leadMotor.setPosition(getAbsolutePosition());
     }
-}
\ No newline at end of file
+}