From 77f44f8c36eef9c9cf9503b23ed2ce60211a6b55 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Sat, 15 Oct 2016 15:50:48 +0000
Subject: [PATCH] lowered goal height correction

---
 src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 2e1100f..04bbed3 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -90,7 +90,7 @@ public class MainArm extends PIDSubsystem {
     return false;
   }
   public double getShooterAngleError(){
-    double correctedHeight = (RobotMap.goalHeight + 24) - 44; //44 is the distance between the ground and the sonar
+    double correctedHeight = (RobotMap.goalHeight + 16) - 44; //44 is the distance between the ground and the sonar
     return (180/Math.PI) * Math.atan(correctedHeight/(getSonarDistance()-1));
   }
   public double getSonarDistanceRaw(){