diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index c98f46c8ad..2e9a8d8434 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -10,7 +10,7 @@ package edu.wpi.first.math.controller;
  */
 public class ArmFeedforward {
   public final double ks;
-  public final double kcos;
+  public final double kg;
   public final double kv;
   public final double ka;
 
@@ -19,13 +19,13 @@ public class ArmFeedforward {
    * units of the computed feedforward.
    *
    * @param ks The static gain.
-   * @param kcos The gravity gain.
+   * @param kg The gravity gain.
    * @param kv The velocity gain.
    * @param ka The acceleration gain.
    */
-  public ArmFeedforward(double ks, double kcos, double kv, double ka) {
+  public ArmFeedforward(double ks, double kg, double kv, double ka) {
     this.ks = ks;
-    this.kcos = kcos;
+    this.kg = kg;
     this.kv = kv;
     this.ka = ka;
   }
@@ -35,11 +35,11 @@ public class ArmFeedforward {
    * Units of the gain values will dictate units of the computed feedforward.
    *
    * @param ks The static gain.
-   * @param kcos The gravity gain.
+   * @param kg The gravity gain.
    * @param kv The velocity gain.
    */
-  public ArmFeedforward(double ks, double kcos, double kv) {
-    this(ks, kcos, kv, 0);
+  public ArmFeedforward(double ks, double kg, double kv) {
+    this(ks, kg, kv, 0);
   }
 
   /**
@@ -55,7 +55,7 @@ public class ArmFeedforward {
   public double calculate(
       double positionRadians, double velocityRadPerSec, double accelRadPerSecSquared) {
     return ks * Math.signum(velocityRadPerSec)
-        + kcos * Math.cos(positionRadians)
+        + kg * Math.cos(positionRadians)
         + kv * velocityRadPerSec
         + ka * accelRadPerSecSquared;
   }
@@ -92,7 +92,7 @@ public class ArmFeedforward {
    */
   public double maxAchievableVelocity(double maxVoltage, double angle, double acceleration) {
     // Assume max velocity is positive
-    return (maxVoltage - ks - Math.cos(angle) * kcos - acceleration * ka) / kv;
+    return (maxVoltage - ks - Math.cos(angle) * kg - acceleration * ka) / kv;
   }
 
   /**
@@ -110,7 +110,7 @@ public class ArmFeedforward {
    */
   public double minAchievableVelocity(double maxVoltage, double angle, double acceleration) {
     // Assume min velocity is negative, ks flips sign
-    return (-maxVoltage + ks - Math.cos(angle) * kcos - acceleration * ka) / kv;
+    return (-maxVoltage + ks - Math.cos(angle) * kg - acceleration * ka) / kv;
   }
 
   /**
@@ -127,7 +127,7 @@ public class ArmFeedforward {
    * @return The maximum possible acceleration at the given velocity.
    */
   public double maxAchievableAcceleration(double maxVoltage, double angle, double velocity) {
-    return (maxVoltage - ks * Math.signum(velocity) - Math.cos(angle) * kcos - velocity * kv) / ka;
+    return (maxVoltage - ks * Math.signum(velocity) - Math.cos(angle) * kg - velocity * kv) / ka;
   }
 
   /**