diff --git a/advantagescope-layout-telemetry.json b/advantagescope-layout-telemetry.json
new file mode 100644
index 0000000..0a3589f
--- /dev/null
+++ b/advantagescope-layout-telemetry.json
@@ -0,0 +1,317 @@
+{
+  "hubs": [
+    {
+      "x": -8,
+      "y": -8,
+      "width": 1552,
+      "height": 840,
+      "state": {
+        "sidebar": {
+          "width": 500,
+          "expanded": [
+            "/Robot/Robot Container/Swerve",
+            "/Robot/Swerve/Desired Module States/0",
+            "/Robot/Swerve/Module States/0",
+            "/Robot/Swerve/Pose/translation",
+            "/NT/Faults",
+            "/NT/Faults/Active Faults/errors",
+            "/NT/Faults/Active Faults",
+            "/Robot/Swerve/left-arducam",
+            "/Robot/Swerve/left-arducam/Estimate",
+            "/Robot/Swerve/blue-arducam/Estimate",
+            "/Robot",
+            "/Robot/Wristevator"
+          ]
+        },
+        "tabs": {
+          "selected": 3,
+          "tabs": [
+            {
+              "type": 0,
+              "title": "",
+              "controller": null,
+              "controllerUUID": "o9cs5ztcxgrwtny58ej9k9380oq4pavb",
+              "renderer": "#/",
+              "controlsHeight": 0
+            },
+            {
+              "type": 9,
+              "title": "Swerve",
+              "controller": {
+                "sources": [
+                  {
+                    "type": "chassisSpeeds",
+                    "logKey": "NT:/Robot/Swerve/Speeds",
+                    "logType": "ChassisSpeeds",
+                    "visible": true,
+                    "options": {
+                      "color": "#ff0000"
+                    }
+                  },
+                  {
+                    "type": "chassisSpeeds",
+                    "logKey": "NT:/Robot/Swerve/Desired Speeds",
+                    "logType": "ChassisSpeeds",
+                    "visible": true,
+                    "options": {
+                      "color": "#0000ff"
+                    }
+                  },
+                  {
+                    "type": "states",
+                    "logKey": "NT:/Robot/Swerve/Module States",
+                    "logType": "SwerveModuleState[]",
+                    "visible": true,
+                    "options": {
+                      "color": "#ff0000",
+                      "arrangement": "0,1,2,3"
+                    }
+                  },
+                  {
+                    "type": "states",
+                    "logKey": "NT:/Robot/Swerve/Desired Module States",
+                    "logType": "SwerveModuleState[]",
+                    "visible": true,
+                    "options": {
+                      "color": "#0000ff",
+                      "arrangement": "0,1,2,3"
+                    }
+                  },
+                  {
+                    "type": "rotation",
+                    "logKey": "NT:/Robot/Swerve/Pose/rotation",
+                    "logType": "Rotation2d",
+                    "visible": true,
+                    "options": {}
+                  }
+                ],
+                "maxSpeed": 4.7,
+                "sizeX": 0.65,
+                "sizeY": 0.65,
+                "orientation": 1
+              },
+              "controllerUUID": "tj8b7ik3e8qxcapobn65d8jzeb8a406h",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 2,
+              "title": "Odometry",
+              "controller": {
+                "sources": [
+                  {
+                    "type": "robot",
+                    "logKey": "NT:/Robot/Swerve/Pose",
+                    "logType": "Pose2d",
+                    "visible": true,
+                    "options": {}
+                  },
+                  {
+                    "type": "vision",
+                    "logKey": "NT:/Robot/Swerve/Detected Tags",
+                    "logType": "Pose3d[]",
+                    "visible": true,
+                    "options": {
+                      "color": "#00ff00",
+                      "size": "normal"
+                    }
+                  },
+                  {
+                    "type": "ghost",
+                    "logKey": "NT:/Robot/Swerve/Accepted Estimates",
+                    "logType": "Pose3d[]",
+                    "visible": false,
+                    "options": {
+                      "color": "#00ff00"
+                    }
+                  },
+                  {
+                    "type": "ghost",
+                    "logKey": "NT:/Robot/Swerve/Rejected Estimates",
+                    "logType": "Pose3d[]",
+                    "visible": false,
+                    "options": {
+                      "color": "#ffff00"
+                    }
+                  },
+                  {
+                    "type": "trajectory",
+                    "logKey": "NT:/Robot/Auto/Current Trajectory",
+                    "logType": "Pose2d[]",
+                    "visible": true,
+                    "options": {
+                      "color": "#ff00ff",
+                      "size": "normal"
+                    }
+                  },
+                  {
+                    "type": "ghost",
+                    "logKey": "NT:/Robot/Auto/Current Trajectory Desired Pose",
+                    "logType": "Pose2d",
+                    "visible": true,
+                    "options": {
+                      "color": "#ff00ff"
+                    }
+                  }
+                ],
+                "game": "2025 Field",
+                "bumpers": "auto",
+                "origin": "blue",
+                "orientation": 0,
+                "size": 24
+              },
+              "controllerUUID": "yb01i8b8ie8wdgv27adfp6hmhntv51s1",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 11,
+              "title": "Wristevator Space",
+              "controller": {
+                "sources": [
+                  {
+                    "type": "circle",
+                    "logKey": "NT:/Robot/Wristevator/Position",
+                    "logType": "Translation2d",
+                    "visible": true,
+                    "options": {
+                      "size": "small",
+                      "groupSize": "0"
+                    }
+                  },
+                  {
+                    "type": "cross",
+                    "logKey": "NT:/Robot/Wristevator/Presets",
+                    "logType": "Translation2d[]",
+                    "visible": true,
+                    "options": {
+                      "size": "medium",
+                      "groupSize": "1"
+                    }
+                  },
+                  {
+                    "type": "plus",
+                    "logKey": "NT:/Robot/Wristevator/Intermediates",
+                    "logType": "Translation2d[]",
+                    "visible": true,
+                    "options": {
+                      "size": "medium",
+                      "groupSize": "2"
+                    }
+                  }
+                ],
+                "width": 100,
+                "height": 10,
+                "orientation": "xr,yu",
+                "origin": "ll"
+              },
+              "controllerUUID": "9belppk6g6q3m1ap2vmnkv0necq1906m",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 10,
+              "title": "Wristevator",
+              "controller": [
+                {
+                  "type": "mechanism",
+                  "logKey": "NT:/SmartDashboard/Wristevator Visualizer",
+                  "logType": "Mechanism2d",
+                  "visible": true,
+                  "options": {}
+                },
+                {
+                  "type": "mechanism",
+                  "logKey": "NT:/SmartDashboard/Intake Visualizer",
+                  "logType": "Mechanism2d",
+                  "visible": true,
+                  "options": {}
+                }
+              ],
+              "controllerUUID": "nh1p7b3gpwcrbqxaplgte4jzsk0atj1e",
+              "renderer": null,
+              "controlsHeight": 180
+            },
+            {
+              "type": 1,
+              "title": "Line Graph",
+              "controller": {
+                "leftSources": [
+                  {
+                    "type": "stepped",
+                    "logKey": "NT:/Robot/Wristevator/Wrist Reference Slope",
+                    "logType": "Number",
+                    "visible": false,
+                    "options": {
+                      "color": "#2b66a2",
+                      "size": "normal"
+                    }
+                  },
+                  {
+                    "type": "stepped",
+                    "logKey": "NT:/Robot/Wristevator/Elevator Reference Slope",
+                    "logType": "Number",
+                    "visible": true,
+                    "options": {
+                      "color": "#e5b31b",
+                      "size": "normal"
+                    }
+                  },
+                  {
+                    "type": "stepped",
+                    "logKey": "NT:Robot/Wristevator/Wrist Velocity",
+                    "logType": "Number",
+                    "visible": false,
+                    "options": {
+                      "color": "#af2437",
+                      "size": "normal"
+                    }
+                  },
+                  {
+                    "type": "stepped",
+                    "logKey": "NT:Robot/Wristevator/Elevator Velocity",
+                    "logType": "Number",
+                    "visible": false,
+                    "options": {
+                      "color": "#af2437",
+                      "size": "normal"
+                    }
+                  },
+                  {
+                    "type": "stepped",
+                    "logKey": "NT:/Robot/Wristevator/Non-Adjusted Desired Elevator Speed",
+                    "logType": "Number",
+                    "visible": false,
+                    "options": {
+                      "color": "#80588e",
+                      "size": "normal"
+                    }
+                  }
+                ],
+                "rightSources": [],
+                "discreteSources": [],
+                "leftLockedRange": null,
+                "rightLockedRange": null,
+                "leftUnitConversion": {
+                  "type": null,
+                  "factor": 1
+                },
+                "rightUnitConversion": {
+                  "type": null,
+                  "factor": 1
+                },
+                "leftFilter": 0,
+                "rightFilter": 0
+              },
+              "controllerUUID": "k1almmklzxunotmndfr92dov3bxdpekl",
+              "renderer": null,
+              "controlsHeight": 200
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "satellites": [],
+  "version": "4.1.1"
+}
diff --git a/src/main/java/frc/robot/subsystems/Wristevator.java b/src/main/java/frc/robot/subsystems/Wristevator.java
index 0b7bfe6..034c37e 100644
--- a/src/main/java/frc/robot/subsystems/Wristevator.java
+++ b/src/main/java/frc/robot/subsystems/Wristevator.java
@@ -153,14 +153,14 @@ public Wristevator() {
       presets[i] =
           new Translation2d(
               Preset.values()[i].getHeight().in(Radians),
-              Preset.values()[i].getAngle().in(Radians));
+              Preset.values()[i].getAngle().in(Radians) + WristevatorConstants.minWristAngle.abs(Radians));
     }
 
     for (int i = 0; i < Intermediate.values().length; i++) {
       intermediates[i] =
           new Translation2d(
               Intermediate.values()[i].getHeight().in(Radians),
-              Intermediate.values()[i].getAngle().in(Radians));
+              Intermediate.values()[i].getAngle().in(Radians) + WristevatorConstants.minWristAngle.abs(Radians));
     }
 
     DogLog.log("Wristevator/Presets", presets);
@@ -527,7 +527,7 @@ public void periodic() {
     DogLog.log("Wristevator/Previous Setpoint", _prevSetpoint.toString());
     DogLog.log("Wristevator/Next Setpoint", _nextSetpoint.toString());
 
-    DogLog.log("Wristevator/Position", new Translation2d(getHeight(), getAngle()));
+    DogLog.log("Wristevator/Position", new Translation2d(getHeight(), getAngle() + WristevatorConstants.minWristAngle.abs(Radians)));
   }
 
   @Override