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index c72ab16..cffbd82 100644
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 {
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+  "fileName": "maniplib-2025.0.0-beta0.5.2.json",
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-  "version": "2025.0.0-beta0.5.1",
+  "version": "2025.0.0-beta0.5.2",
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@@ -12,7 +12,7 @@
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new file mode 100644
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+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>maniplib</groupId>
+  <artifactId>ManipLib-cpp</artifactId>
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+  <packaging>pom</packaging>
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new file mode 100644
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index 694313d..f420174 100644
--- a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml
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@@ -3,8 +3,8 @@
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+      <version>2025.0.0-beta0.5.2</version>
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diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha1
index a3d215a..18fbfef 100644
--- a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha1
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha1
@@ -1 +1 @@
-4bbe35e5291ce35f0122daac5cae8c36beb781da
\ No newline at end of file
+172066bd78a58f3ebad8b414680a41bd5d7d0a85
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha256
index 76b18fb..606fc28 100644
--- a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha256
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha256
@@ -1 +1 @@
-4e031f859abe072ef2e3485d20919bf8ba56f88d8291d14754325c080474fb74
\ No newline at end of file
+ce551447f0969c14f8b74b9dc64a2fbcbc2651256945088518f104e4b1673781
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha512
index 07ff2fa..f5ae543 100644
--- a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha512
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.1/ManipLib-java-2025.0.0-beta0.5.1.jar.sha512
@@ -1 +1 @@
-bbcd73d0518ec01d14fbb8f83f3d9ce14d6c5296581e71b0a84032a05aacd4838721d46b42fabca6aa6f0d9efd5d3c89ff2df855e57008abe4f87efd675b9eb4
\ No newline at end of file
+b69476acf95bbc0b33ec7c4dc9928731902ddb736750e7f69505091f8497e0c408d0c43b57e1ec59666f0aa630dc36fd1d54feb2e54a5670fa0cf1ecb4ee3610
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar
new file mode 100644
index 0000000..3775017
Binary files /dev/null and b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar differ
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.md5
new file mode 100644
index 0000000..1e6176a
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.md5
@@ -0,0 +1 @@
+bd4fa650df1158f19effcd05e8793085
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha1
new file mode 100644
index 0000000..abba5a5
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha1
@@ -0,0 +1 @@
+4963b144bd12081ae5da344ff38666df870d66e0
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha256
new file mode 100644
index 0000000..b654729
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha256
@@ -0,0 +1 @@
+df3a86281892d61ac397f502c6f53eed882ae8725a483bc0ee7e284db77211a3
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha512
new file mode 100644
index 0000000..562b886
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-javadoc.jar.sha512
@@ -0,0 +1 @@
+f2c9ae54795c452295414f9757f57744adb3c9b724820348091ddf3f39b12d3af332eeaff539a0b8019790e363b4aa55ab76b584e9c983489851fae4404b5a9b
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar
new file mode 100644
index 0000000..9be57d3
Binary files /dev/null and b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar differ
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.md5
new file mode 100644
index 0000000..289c0cd
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.md5
@@ -0,0 +1 @@
+5a53793ec87bb8b5f29b86ef783d57a2
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha1
new file mode 100644
index 0000000..71874bc
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha1
@@ -0,0 +1 @@
+66db8084e6fb1e1f22187f2a9b49a7d684ab21fa
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha256
new file mode 100644
index 0000000..089602f
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha256
@@ -0,0 +1 @@
+b02108fffe5476915e0360ed7c36dd3edd6a2426f10c00a6e4f94713ac7c3b3c
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha512
new file mode 100644
index 0000000..3a5cbea
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2-sources.jar.sha512
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar
new file mode 100644
index 0000000..cbfdf7e
Binary files /dev/null and b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar differ
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.md5
new file mode 100644
index 0000000..af61c08
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.md5
@@ -0,0 +1 @@
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diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha1
new file mode 100644
index 0000000..18fbfef
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha1
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha256
new file mode 100644
index 0000000..606fc28
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha256
@@ -0,0 +1 @@
+ce551447f0969c14f8b74b9dc64a2fbcbc2651256945088518f104e4b1673781
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha512
new file mode 100644
index 0000000..f5ae543
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.jar.sha512
@@ -0,0 +1 @@
+b69476acf95bbc0b33ec7c4dc9928731902ddb736750e7f69505091f8497e0c408d0c43b57e1ec59666f0aa630dc36fd1d54feb2e54a5670fa0cf1ecb4ee3610
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom
new file mode 100644
index 0000000..58117a7
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>maniplib</groupId>
+  <artifactId>ManipLib-java</artifactId>
+  <version>2025.0.0-beta0.5.2</version>
+</project>
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.md5
new file mode 100644
index 0000000..1e9aed1
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.md5
@@ -0,0 +1 @@
+36cb7f9a6db22cdd9630aaf95198eb72
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha1
new file mode 100644
index 0000000..76a95e5
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha1
@@ -0,0 +1 @@
+9db12c09235c2d352b3b3742ac6962aaeb86b05d
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha256
new file mode 100644
index 0000000..f6ba122
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha256
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha512
new file mode 100644
index 0000000..a112269
--- /dev/null
+++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.2/ManipLib-java-2025.0.0-beta0.5.2.pom.sha512
@@ -0,0 +1 @@
+069119648332c879a910115f7f118a8aa891522291fc93de972b563f850036c65fbb290e02c6da304ebad16bca5109f90a62e61814ebbbdd0d33486f51af3ebf
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml
index ea72725..123b856 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml
@@ -3,8 +3,8 @@
   <groupId>maniplib</groupId>
   <artifactId>ManipLib-java</artifactId>
   <versioning>
-    <latest>2025.0.0-beta0.5.1</latest>
-    <release>2025.0.0-beta0.5.1</release>
+    <latest>2025.0.0-beta0.5.2</latest>
+    <release>2025.0.0-beta0.5.2</release>
     <versions>
       <version>2025.0.0-unreleased</version>
       <version>test</version>
@@ -15,7 +15,8 @@
       <version>2025.0.0-beta0.4</version>
       <version>2025.0.0-beta0.5</version>
       <version>2025.0.0-beta0.5.1</version>
+      <version>2025.0.0-beta0.5.2</version>
     </versions>
-    <lastUpdated>20250222161414</lastUpdated>
+    <lastUpdated>20250222162423</lastUpdated>
   </versioning>
 </metadata>
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5
index b2301bc..912d6f2 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5
@@ -1 +1 @@
-6eb593dcf05060294c4afea29842e67d
\ No newline at end of file
+8badd8b09e17b9d7e14f63cf35f299df
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1
index 0feaade..0c00dc0 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1
@@ -1 +1 @@
-08fa08442d04ea91d37e4303f71cb451ceb3d90b
\ No newline at end of file
+a0088bf8368f25ff4f07b1c8a84722c8a1bed4e5
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256
index 18d000c..6291d8f 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256
@@ -1 +1 @@
-0c9afdb925f0804f50a6ca5097f24972cf695417d07d7bca7c94543a17c94004
\ No newline at end of file
+25bf01d0f574ef0888d94e1e76f96b0afaa372414b51aa563f61fea99698f97c
\ No newline at end of file
diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512
index 3e54664..cabab36 100644
--- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512
+++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512
@@ -1 +1 @@
-677ccf0a45f505355d2bcce37ccfeca00f9715b067028dbfc0194ea47039680f1c776d041c69eefe02594d10a2e3e0fb544062bd24da95523c0097a3ab59a606
\ No newline at end of file
+ab30db35c2be00d40fcc99e0070fcb0f881edc559529035bfea26d38f14a88930665a954a9c42d5cfd7e8fc9cf17160d28f1916de4b491fa8abd863115f667b5
\ No newline at end of file
diff --git a/publish.gradle b/publish.gradle
index ac00790..eb147f1 100644
--- a/publish.gradle
+++ b/publish.gradle
@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.5.1"
+def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.5.2"
 
 def releasesRepoUrl = "maniplib/repos/"
 
diff --git a/src/main/java/maniplib/ManipArm.java b/src/main/java/maniplib/ManipArm.java
index a99c859..10eb758 100644
--- a/src/main/java/maniplib/ManipArm.java
+++ b/src/main/java/maniplib/ManipArm.java
@@ -90,8 +90,8 @@ public ManipArm(ManipMotor motor, ManipArmConstants armConstants) {
 
             this.atMin = new Trigger(() -> getAngle().isNear(this.armConstants.kMinAngle, Degrees.of(3)));
             this.atMax = new Trigger(() -> getAngle().isNear(this.armConstants.kMaxAngle, Degrees.of(3)));
-            this.goingDown = new Trigger(() -> motor.getAppliedOutput() > 0);
-            this.goingUp = new Trigger(() -> motor.getAppliedOutput() < 0);
+            this.goingDown = new Trigger(() -> motor.getAppliedOutput() < 0);
+            this.goingUp = new Trigger(() -> motor.getAppliedOutput() > 0);
 
             this.atMin.and(goingDown).or(topLimit).onTrue(run(this::stopArm));
             this.atMax.and(goingUp).or(topLimit).onTrue(run(this::stopArm));
diff --git a/src/main/java/maniplib/ManipElevator.java b/src/main/java/maniplib/ManipElevator.java
index 8f5bb91..cdf4686 100644
--- a/src/main/java/maniplib/ManipElevator.java
+++ b/src/main/java/maniplib/ManipElevator.java
@@ -81,8 +81,8 @@ public ManipElevator(ManipMotor motor, ManipElevatorConstants config) {
 
             this.atMin = new Trigger(() -> getLinearPosition().isNear(config.kMinHeight, Inches.of(1)));
             this.atMax = new Trigger(() -> getLinearPosition().isNear(config.kMaxHeight, Inches.of(1)));
-            this.goingDown = new Trigger(() -> motor.getAppliedOutput() > 0);
-            this.goingUp = new Trigger(() -> motor.getAppliedOutput() < 0);
+            this.goingDown = new Trigger(() -> motor.getAppliedOutput() < 0);
+            this.goingUp = new Trigger(() -> motor.getAppliedOutput() > 0);
 
             this.atMin.and(goingDown).or(topLimit).onTrue(run(this::stopElevator));
             this.atMax.and(goingUp).or(topLimit).onTrue(run(this::stopElevator));