diff --git a/Simulation/simulationCanvas.py b/Simulation/simulationCanvas.py
index 10fe9d45..aedf1c9a 100644
--- a/Simulation/simulationCanvas.py
+++ b/Simulation/simulationCanvas.py
@@ -38,6 +38,7 @@ def initialize(self):
         self.leftChainOffset.bind(value=self.onSliderChange)
         self.rightChainOffset.bind(value=self.onSliderChange)
         self.rotationRadiusOffset.bind(value=self.onSliderChange)
+        self.chainSagCorrectionOffset.bind(value=self.onSliderChange)
 
         self.vertCGDist.bind(value=self.onSliderChange)
         self.gridSize.bind(value=self.onSliderChange)
@@ -81,6 +82,7 @@ def resetSliders(self):
         self.leftChainOffset.value = 0
         self.rightChainOffset.value = 0
         self.rotationRadiusOffset.value = 0
+        self.chainSagCorrectionOffset.value = 0
         self.gridSize.value=300
 
     def recompute(self):
@@ -391,7 +393,10 @@ def onSliderChange(self, *args):
         
         self.distortedKinematics.rotationDiskRadius = self.correctKinematics.rotationDiskRadius + self.rotationRadiusOffset.value
         self.rotationRadiusLabel.text = "Rotation Radius\nSpacing Error: " + "%.2f" % self.rotationRadiusOffset.value + "mm"
-        
+
+        self.distortedKinematics.chainSagCorrection = self.correctKinematics.chainSagCorrection + self.chainSagCorrectionOffset.value
+        self.chainSagCorrectionLabel.text = "Chain Sag\Correction Error: " + "%.2f" % self.chainSagCorrectionOffset.value
+
         #self.machineLabel.text = "distance between sled attachments ideal: "+str(self.correctKinematics.l)+" actual: "+str(self.distortedKinematics.l)+"mm\nvertical distance between sled attachments and bit ideal: "+str(self.correctKinematics.s)+" actual: "+str(self.distortedKinematics.s)+"mm\nvertical distance between sled attachments and CG ideal: "+str(self.correctKinematics.h3+self.correctKinematics.s)+" actual: "+str(self.distortedKinematics.h3+self.distortedKinematics.s)+"mm\ndistance between motors ideal: "+str(self.correctKinematics.D)+" actual: "+str(self.distortedKinematics.D)+"mm"
 
         self.gridSizeLabel.text = "Grid Size: "+str(int(self.gridSize.value))+"mm"
diff --git a/groundcontrol.kv b/groundcontrol.kv
index 376aed01..a0baa90e 100755
--- a/groundcontrol.kv
+++ b/groundcontrol.kv
@@ -1223,6 +1223,8 @@
     gridSizeLabel:gridSizeLabel
     rotationRadiusOffset:rotationRadiusOffset
     rotationRadiusLabel:rotationRadiusLabel
+    chainSagCorrectionOffset:chainSagCorrectionOffset
+    chainSagCorrectionLabel:chainSagCorrectionLabel
     kinematicsSelect:kinematicsSelect
 
     rows: 3
@@ -1344,6 +1346,18 @@
                 value: 0
                 disabled: root.isQuadKinematics
                 id: rotationRadiusOffset
+            Label:
+                text: "Chain Sag Correction"
+                text_size: self.width, self.height
+                font_size: sp(self.height)/sp(3)
+                disabled: root.isQuadKinematics
+                id: chainSagCorrectionLabel
+            Slider:
+                min: -50
+                max:50
+                value: 0
+                disabled: root.isQuadKinematics
+                id: chainSagCorrectionOffset
             Label:
                 text: "Grid Size: 150mm"
                 text_size: self.width, self.height