diff --git a/src/ER_V/acl/acl_private.hpp b/src/ER_V/acl/acl_private.hpp
index 15437b7..302ca48 100644
--- a/src/ER_V/acl/acl_private.hpp
+++ b/src/ER_V/acl/acl_private.hpp
@@ -46,15 +46,16 @@ typedef enum _acl_axis {
   ACL_AXIS_WRIST_ROLL = 5
 } ACL_Axis;
 
+/** These match the positive/negative functions of manual mode from the pendant */
 typedef enum _acl_manual_axis {
   ACL_MAN_NEG_BASE_AXIS = '1',
   ACL_MAN_POS_BASE_AXIS = 'q',
-  ACL_MAN_NEG_SHOULDER_AXIS = '2',
-  ACL_MAN_POS_SHOULDER_AXIS = 'w',
-  ACL_MAN_NEG_ELBOW_AXIS = '3',
-  ACL_MAN_POS_ELBOW_AXIS = 'e',
-  ACL_MAN_NEG_WRIST_PITCH_AXIS = '4',
-  ACL_MAN_POS_WRIST_PITCH_AXIS = 'r',
+  ACL_MAN_NEG_SHOULDER_AXIS = 'w',
+  ACL_MAN_POS_SHOULDER_AXIS = '2',
+  ACL_MAN_NEG_ELBOW_AXIS = 'e',
+  ACL_MAN_POS_ELBOW_AXIS = '3',
+  ACL_MAN_NEG_WRIST_PITCH_AXIS = 'r',
+  ACL_MAN_POS_WRIST_PITCH_AXIS = '4',
   ACL_MAN_NEG_WRIST_ROLL_AXIS = '5',
   ACL_MAN_POS_WRIST_ROLL_AXIS = 't',
 } ACL_Manual_Axis;