diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 95f488d..3113d55 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -37,8 +37,7 @@ public class RobotMap {
   public static double fWidth = 483.467261958;
   public static double fHeight = 362.600446468;
   public static int sonar = 2;
-  //public static int goalHeight = 102;
-  public static int goalHeight = 64;
+  public static int goalHeight = 85;
   //Misc
   public static int mainArmPresetCollect = -5;
   public static int mainArmPresetTraverse = 10;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index bbff6cb..42a5052 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -90,8 +90,8 @@ public class MainArm extends PIDSubsystem {
     return false;
   }
   public double getShooterAngleError(){
-    double correctedHeight = (RobotMap.goalHeight + 26) - 44; //44 is the distance between the ground and the sonar
-    return (180/Math.PI) * Math.atan(correctedHeight/(getSonarDistance()-5));
+    double correctedHeight = (RobotMap.goalHeight + 24) - 44; //44 is the distance between the ground and the sonar
+    return (180/Math.PI) * Math.atan(correctedHeight/(getSonarDistance()-1));
   }
   public double getSonarDistanceRaw(){
      return sonar.getVoltage();