diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 42eb55b..5ab2eed 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -40,6 +40,8 @@ public final class Constants {
 
     public static final double ELEVATOR_DEADBAND_VALUE = .6;
     public static final double maxElevatorMotorSpeed = 0.3; //Normally .2
+    public static final double ELEVATOR_SPEED_MOD_REDUCED = 0.5;
+
 
     public static final double MINIMUM_ELEVATOR_POSITION = 2.2;
     public static final double restElevatorTargetPosition = 10.6;
diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
index 5029d5d..1607334 100644
--- a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
@@ -34,6 +34,10 @@ public class ElevatorSubsystem extends SubsystemBase {
     public double newPower;
 
     public DigitalInput elevatorLimitSwitch;
+    
+    public int previousDirection;
+
+    public double elevatorSpeedMod = 1;
 
     public ElevatorSubsystem(ClawIntakeSubsystem intake)
     {
@@ -70,6 +74,7 @@ public ElevatorSubsystem(ClawIntakeSubsystem intake)
 
     public void setTargetPosition(double newTargetPosition, String reason) {
         targetPosition = newTargetPosition;
+        previousDirection = (int) (Math.signum(targetPosition - potentiometer.get()));
     }
 
     private double getCappedPower(double desired)
@@ -86,6 +91,8 @@ public void setSpeed(double newSpeed) {
 
         speed *= Constants.maxElevatorMotorSpeed;
 
+        speed *= elevatorSpeedMod;
+
         speed = getCappedPower(speed);
 
         double currentPower = elevatorMotorMain.get();
@@ -131,13 +138,22 @@ public void periodic() {
             } 
             else {
                 setSpeed(0);
+                elevatorSpeedMod = 1;
             }
         }
 
+        
+        if(previousDirection != Math.signum(targetPosition - potentiometer.get())) {
+            previousDirection = (int) (Math.signum(targetPosition - potentiometer.get()));
+            elevatorSpeedMod = Constants.ELEVATOR_SPEED_MOD_REDUCED;
+        }
+
         if(potentiometer.get() < Constants.clawCloseThreshold && !clawThresholdOverridden
             && intake.clawGrabberLeft.get() != Value.kReverse && Robot.isEnabled)
             intake.setSolenoid(Value.kReverse);
-            
+
+       
+        
     }
 
     public boolean isInTarget() {