diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
index cf2d4ea..ee9c218 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
@@ -46,6 +46,7 @@ public class Robot {
     private final CopyOnWriteArrayList<Status> reportedStatuses = new CopyOnWriteArrayList<>();
     private final ConcurrentHashMap<String, Double> motorVelocityError = new ConcurrentHashMap<>();
     private final ConcurrentHashMap<String, Double> motorVelocityLastTiming = new ConcurrentHashMap<>();
+    private final ConcurrentHashMap<String, Double> motorTargetVelocity = new ConcurrentHashMap<>();
 
     public enum ArmPosition {
         COLLECT,
@@ -558,6 +559,24 @@ public class Robot {
                 ", targetVelocity: " + targetVelocity + " ticks, new Target Velocity: " + newTargetVelocity + " ticks, + motorVelocity: " + motor.getVelocity() + " ticks.");
     }
 
+    @SuppressLint("NewApi")
+    public void controlArmMotor(double targetVelocity) {
+        double time = System.currentTimeMillis();
+        double newTargetVelocity = motorTargetVelocity.getOrDefault("Arm", targetVelocity);
+        double lastTiming = motorVelocityLastTiming.getOrDefault("Arm", time);
+        double deltaTime = (time - lastTiming) * 0.001;
+
+        double error = targetVelocity - arm.getVelocity();
+        double kp = 0.9;
+
+        newTargetVelocity += error * kp * deltaTime;
+
+        motorTargetVelocity.put("Arm", newTargetVelocity);
+        motorVelocityLastTiming.put("Arm", time);
+
+        arm.setVelocity(newTargetVelocity);
+    }
+
     public double getVoltage() {
         return engine.hardwareMap.voltageSensor.iterator().next().getVoltage();
     }
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/teleop/ArmDriverControl.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/teleop/ArmDriverControl.java
index be5aca9..9536ce7 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/teleop/ArmDriverControl.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/teleop/ArmDriverControl.java
@@ -127,11 +127,15 @@ public class ArmDriverControl extends CyberarmState {
     private void automaticArmVelocity() {
         robot.arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
 
-        robot.controlMotorPIDF(
-                robot.arm,
-                "Arm",
-                robot.angleToTicks(robot.tuningConfig("arm_velocity_in_degrees_per_second").value()),
-                12.0 / robot.getVoltage());
+        // robot.controlMotorPIDF(
+        //        robot.arm,
+        //        "Arm",
+        //        robot.angleToTicks(robot.tuningConfig("arm_velocity_in_degrees_per_second").value()),
+        //        12.0 / robot.getVoltage());
+
+        robot.controlArmMotor(
+                robot.angleToTicks(robot.tuningConfig("arm_velocity_in_degrees_per_second").value())
+        );
     }
 
     private void automaticHardwareMonitor() {