diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 760e9fb..8d6f254 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -98,7 +98,7 @@ public class RobotContainer {
 		);
 
 		manipulatorPivot.setDefaultCommand(
-			manipulatorPivot.runAssistedArm(operator::getRightY)
+			manipulatorPivot.runAssistedPivot(operator::getRightY)
 		);
 
 		//Driver inputs
diff --git a/src/main/java/frc/robot/subsystems/ManipulatorPivot.java b/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
index 214383b..aaa315c 100644
--- a/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
+++ b/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
@@ -87,7 +87,7 @@ public class ManipulatorPivot extends SubsystemBase {
      * @param speed The velocity at which the arm rotates
      * @return Sets motor voltage to achieve the target velocity
      */
-    public Command runAssistedArm(DoubleSupplier speed) {
+    public Command runAssistedPivot(DoubleSupplier speed) {
         double clampedSpeed = MathUtil.clamp(
             speed.getAsDouble(), 
             -1, 
diff --git a/src/main/java/frc/robot/subsystems/sysid/ArmSysID.java b/src/main/java/frc/robot/subsystems/sysid/ManipulatorPivotSysID.java
similarity index 79%
rename from src/main/java/frc/robot/subsystems/sysid/ArmSysID.java
rename to src/main/java/frc/robot/subsystems/sysid/ManipulatorPivotSysID.java
index b8b9218..468b565 100644
--- a/src/main/java/frc/robot/subsystems/sysid/ArmSysID.java
+++ b/src/main/java/frc/robot/subsystems/sysid/ManipulatorPivotSysID.java
@@ -13,23 +13,23 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.constants.ManipulatorPivotConstants;
 import frc.robot.subsystems.ManipulatorPivot;
 
-public class ArmSysID extends ManipulatorPivot {
+public class ManipulatorPivotSysID extends ManipulatorPivot {
     private MutVoltage appliedVoltage;
 
-    private MutAngle armPosition;
+    private MutAngle pivotPosition;
 
-    private MutAngularVelocity armVelocity;
+    private MutAngularVelocity pivotVelocity;
 
     private SysIdRoutine routine;
 
-    public ArmSysID() {
+    public ManipulatorPivotSysID() {
         super();
 
         appliedVoltage = Volts.mutable(0);
 
-        armPosition = Radians.mutable(0);
+        pivotPosition = Radians.mutable(0);
 
-        armVelocity = RadiansPerSecond.mutable(0);
+        pivotVelocity = RadiansPerSecond.mutable(0);
 
         routine = new SysIdRoutine(
             ManipulatorPivotConstants.kSysIDConfig,
@@ -40,10 +40,10 @@ public class ArmSysID extends ManipulatorPivot {
                         .voltage(appliedVoltage.mut_replace(
                             armMotor.get() * RobotController.getBatteryVoltage(), Volts
                         ))
-                        .angularPosition(armPosition.mut_replace(
+                        .angularPosition(pivotPosition.mut_replace(
                             getEncoderPosition(), Radians
                         ))
-                        .angularVelocity(armVelocity.mut_replace(
+                        .angularVelocity(pivotVelocity.mut_replace(
                             getEncoderVelocity(), RadiansPerSecond
                         ));
                 },