diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
index 745b45f6..1f357fe9 100644
--- a/src/main/java/org/carlmontrobotics/subsystems/Arm.java
+++ b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -65,7 +65,7 @@ public class Arm extends SubsystemBase {
     private static double kDt = 0.02;
    
     //PID, feedforward, trap profile
-    private final ArmFeedforward armFeed = new ArmFeedforward(kS, kV, kA);
+    private final ArmFeedforward armFeed = new ArmFeedforward(kS, kG, kV, kA);
     private final SparkPIDController armPID1 = armMotorMaster.getPIDController();
     private final SparkPIDController armPID2 = armMotorFollower.getPIDController();
     private TrapezoidProfile armProfile = new TrapezoidProfile(TRAP_CONSTRAINTS);