diff --git a/frc971/control_loops/python/arm.py b/frc971/control_loops/python/arm.py
index c910f4c..974ae0f 100755
--- a/frc971/control_loops/python/arm.py
+++ b/frc971/control_loops/python/arm.py
@@ -5,6 +5,7 @@
 import polytope
 import polydrivetrain
 import numpy
+import math
 import sys
 import matplotlib
 from matplotlib import pylab
@@ -63,6 +64,11 @@
 
     print 'Full speed is', C2 / C3 * 12.0
 
+    print 'Stall arm difference is', 12.0 * C2 / C1
+    print 'Stall arm difference first principles is', self.stall_torque * self.G / self.spring
+
+    print '5 degrees of arm error is', self.spring / self.r * (math.pi * 5.0 / 180.0)
+
     # Start with the unmodified input
     self.B_continuous = numpy.matrix(
         [[0, 0],