diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 3113d55..98a2230 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -32,8 +32,8 @@ public class RobotMap {
   // Camera: Axis M1013
   // FOV = 67deg
   // f = pixelSize/(2*tan(FOV/2))
-  public static double imageWidth = 640;
-  public static double imageHeight = 480;
+  public static double imageWidth = 320;
+  public static double imageHeight = 240;
   public static double fWidth = 483.467261958;
   public static double fHeight = 362.600446468;
   public static int sonar = 2;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 42a5052..2e1100f 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -16,7 +16,7 @@ public class MainArm extends PIDSubsystem {
   private double min = RobotMap.zeroDegrees;
   private double max = RobotMap.ninetyDegrees;
   public MainArm() {
-    super("MainArm", 0.08, 0.0, 0.002);
+    super("MainArm", 0.06, 0.0, 0.002);
     getPIDController().setContinuous(false);
     setSetpoint(70);
     enable();