diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 481626e..106382e 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -103,7 +103,8 @@ public static final class IntakeConstants {
     // In degrees
     public static final double kIntakeLoweredAngle = -193;
     public static final double kIntakeRaisedAngle = 0;
-    public static final double kIntakeAmpScoringAngle = -71; // 193 - 100 (previous angle)
+    public static final double kIntakeAmpScoringAngle = -71; 
+    public static final int kIntakeAmpTolerance = 2;
 
     /** Encoder offset in rotations */
     public static final double kArmEncoderOffset = 0.715;
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index a0a33dd..a38bf22 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -81,7 +81,7 @@ public double getArmPosition() {
   }
 
   public boolean ampReady(){
-    return ((m_armEncoder.getDistance() < IntakeConstants.kIntakeAmpScoringAngle + 1) || (m_armEncoder.getDistance() > IntakeConstants.kIntakeAmpScoringAngle - 1)); 
+    return m_armEncoder.getDistance() < (IntakeConstants.kIntakeAmpScoringAngle + IntakeConstants.kIntakeAmpTolerance) && m_armEncoder.getDistance() > (IntakeConstants.kIntakeAmpScoringAngle - IntakeConstants.kIntakeAmpTolerance);
   }
 
   public boolean armAtSetpoint() {