diff --git a/Control/Jetson/main.py b/Control/Jetson/main.py
index 6cb6b75..eee017a 100755
--- a/Control/Jetson/main.py
+++ b/Control/Jetson/main.py
@@ -23,6 +23,7 @@ from pallet_hole_alignment_c import HoleAligner
 #     time.sleep(5)
 #     subprocess.run(["route", "-n"])
 
+DO_ZERO = False
 DO_GPS_THERE = False
 DO_VISION_APPROACH = True
 DO_FORK_ALIGN = True
@@ -139,9 +140,12 @@ def queue_executor_thread():
     HOLE_ALIGNMENT_SYSTEM = HoleAligner(FORKLIFT)
     executor_logger.info("ARMING VEHICLE...")
     FORKLIFT.set_arm()
-    executor_logger.info("Zeroing fork...")
-    FORKLIFT.zero_fork_vert_movement()
-    FORKLIFT.zero_fork_horiz()
+    if DO_ZERO:
+        executor_logger.info("Zeroing fork...")
+        FORKLIFT.zero_fork_vert_movement()
+        FORKLIFT.zero_fork_horiz()
+    else:
+        executor_logger.warning("DO_ZERO flag is false, skipping zeroing")
     FORKLIFT.set_state("READY_FOR_NEXT_TASK")
     executor_logger.info("Ready.")