diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index 4c38993..e286729 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -15,9 +15,9 @@
     "RealAutons",
     "TestAutos"
   ],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
-  "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
+  "defaultMaxVel": 2.4,
+  "defaultMaxAccel": 1.8,
+  "defaultMaxAngVel": 300.0,
+  "defaultMaxAngAccel": 400.0,
   "maxModuleSpeed": 4.5
 }
diff --git a/src/main/deploy/pathplanner/paths/1Meter.path b/src/main/deploy/pathplanner/paths/1Meter.path
index bb8e58c..a194286 100644
--- a/src/main/deploy/pathplanner/paths/1Meter.path
+++ b/src/main/deploy/pathplanner/paths/1Meter.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/1Pickup.path b/src/main/deploy/pathplanner/paths/1Pickup.path
index fa5c8b1..7968443 100644
--- a/src/main/deploy/pathplanner/paths/1Pickup.path
+++ b/src/main/deploy/pathplanner/paths/1Pickup.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/1Reverse.path b/src/main/deploy/pathplanner/paths/1Reverse.path
index ed01ed0..837365d 100644
--- a/src/main/deploy/pathplanner/paths/1Reverse.path
+++ b/src/main/deploy/pathplanner/paths/1Reverse.path
@@ -56,10 +56,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/1toF1.path b/src/main/deploy/pathplanner/paths/1toF1.path
index 3e01556..df9210b 100644
--- a/src/main/deploy/pathplanner/paths/1toF1.path
+++ b/src/main/deploy/pathplanner/paths/1toF1.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/2Pickup.path b/src/main/deploy/pathplanner/paths/2Pickup.path
index 3cbbb81..e8a37fe 100644
--- a/src/main/deploy/pathplanner/paths/2Pickup.path
+++ b/src/main/deploy/pathplanner/paths/2Pickup.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/2Reverse.path b/src/main/deploy/pathplanner/paths/2Reverse.path
index 5804cf2..3d5162f 100644
--- a/src/main/deploy/pathplanner/paths/2Reverse.path
+++ b/src/main/deploy/pathplanner/paths/2Reverse.path
@@ -68,10 +68,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/3Pickup.path b/src/main/deploy/pathplanner/paths/3Pickup.path
index 8978490..706eda2 100644
--- a/src/main/deploy/pathplanner/paths/3Pickup.path
+++ b/src/main/deploy/pathplanner/paths/3Pickup.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/3Reverse.path b/src/main/deploy/pathplanner/paths/3Reverse.path
index 67c226a..108ec9b 100644
--- a/src/main/deploy/pathplanner/paths/3Reverse.path
+++ b/src/main/deploy/pathplanner/paths/3Reverse.path
@@ -68,10 +68,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/ALFirst.path b/src/main/deploy/pathplanner/paths/ALFirst.path
index e3ac0e8..97f68f6 100644
--- a/src/main/deploy/pathplanner/paths/ALFirst.path
+++ b/src/main/deploy/pathplanner/paths/ALFirst.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/AMFirst.path b/src/main/deploy/pathplanner/paths/AMFirst.path
index 529367d..943734a 100644
--- a/src/main/deploy/pathplanner/paths/AMFirst.path
+++ b/src/main/deploy/pathplanner/paths/AMFirst.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/ARFirst.path b/src/main/deploy/pathplanner/paths/ARFirst.path
index 1f035c7..934c927 100644
--- a/src/main/deploy/pathplanner/paths/ARFirst.path
+++ b/src/main/deploy/pathplanner/paths/ARFirst.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/ARMidway.path b/src/main/deploy/pathplanner/paths/ARMidway.path
index 9f2d23e..e1e795b 100644
--- a/src/main/deploy/pathplanner/paths/ARMidway.path
+++ b/src/main/deploy/pathplanner/paths/ARMidway.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/ARSecond.path b/src/main/deploy/pathplanner/paths/ARSecond.path
index 2f32376..28ad9d0 100644
--- a/src/main/deploy/pathplanner/paths/ARSecond.path
+++ b/src/main/deploy/pathplanner/paths/ARSecond.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/BlueShoot1.path b/src/main/deploy/pathplanner/paths/BlueShoot1.path
index 2959a92..40dee40 100644
--- a/src/main/deploy/pathplanner/paths/BlueShoot1.path
+++ b/src/main/deploy/pathplanner/paths/BlueShoot1.path
@@ -62,10 +62,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/LFirst.path b/src/main/deploy/pathplanner/paths/LFirst.path
index ed32f00..af10b45 100644
--- a/src/main/deploy/pathplanner/paths/LFirst.path
+++ b/src/main/deploy/pathplanner/paths/LFirst.path
@@ -62,10 +62,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/MFirst.path b/src/main/deploy/pathplanner/paths/MFirst.path
index 872e000..273c3aa 100644
--- a/src/main/deploy/pathplanner/paths/MFirst.path
+++ b/src/main/deploy/pathplanner/paths/MFirst.path
@@ -62,10 +62,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0.5,
diff --git a/src/main/deploy/pathplanner/paths/Measuring.path b/src/main/deploy/pathplanner/paths/Measuring.path
index 06b8b23..55a2bfd 100644
--- a/src/main/deploy/pathplanner/paths/Measuring.path
+++ b/src/main/deploy/pathplanner/paths/Measuring.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/MoveForward.path b/src/main/deploy/pathplanner/paths/MoveForward.path
index 9549582..00ea21f 100644
--- a/src/main/deploy/pathplanner/paths/MoveForward.path
+++ b/src/main/deploy/pathplanner/paths/MoveForward.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Point1-2.path b/src/main/deploy/pathplanner/paths/Point1-2.path
index c06495e..68023fb 100644
--- a/src/main/deploy/pathplanner/paths/Point1-2.path
+++ b/src/main/deploy/pathplanner/paths/Point1-2.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Point1-3.path b/src/main/deploy/pathplanner/paths/Point1-3.path
index 4805308..3b2eec4 100644
--- a/src/main/deploy/pathplanner/paths/Point1-3.path
+++ b/src/main/deploy/pathplanner/paths/Point1-3.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Point2-1.path b/src/main/deploy/pathplanner/paths/Point2-1.path
index 27bfc23..f4c61bc 100644
--- a/src/main/deploy/pathplanner/paths/Point2-1.path
+++ b/src/main/deploy/pathplanner/paths/Point2-1.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Point2-3.path b/src/main/deploy/pathplanner/paths/Point2-3.path
index 363d18a..ee01ff9 100644
--- a/src/main/deploy/pathplanner/paths/Point2-3.path
+++ b/src/main/deploy/pathplanner/paths/Point2-3.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Point3-1.path b/src/main/deploy/pathplanner/paths/Point3-1.path
index 7c3b1c5..3bebf72 100644
--- a/src/main/deploy/pathplanner/paths/Point3-1.path
+++ b/src/main/deploy/pathplanner/paths/Point3-1.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Point3-2.path b/src/main/deploy/pathplanner/paths/Point3-2.path
index 42c78d7..88f792a 100644
--- a/src/main/deploy/pathplanner/paths/Point3-2.path
+++ b/src/main/deploy/pathplanner/paths/Point3-2.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/PointF1-F2.path b/src/main/deploy/pathplanner/paths/PointF1-F2.path
index 7040b6d..d946c6c 100644
--- a/src/main/deploy/pathplanner/paths/PointF1-F2.path
+++ b/src/main/deploy/pathplanner/paths/PointF1-F2.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/PointF2-F1.path b/src/main/deploy/pathplanner/paths/PointF2-F1.path
index c0147c8..d4d0d97 100644
--- a/src/main/deploy/pathplanner/paths/PointF2-F1.path
+++ b/src/main/deploy/pathplanner/paths/PointF2-F1.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/RFirst.path b/src/main/deploy/pathplanner/paths/RFirst.path
index 325c9f2..b68f56a 100644
--- a/src/main/deploy/pathplanner/paths/RFirst.path
+++ b/src/main/deploy/pathplanner/paths/RFirst.path
@@ -62,10 +62,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0.0,
diff --git a/src/main/deploy/pathplanner/paths/ROut.path b/src/main/deploy/pathplanner/paths/ROut.path
index 81dbc8d..ffe45c5 100644
--- a/src/main/deploy/pathplanner/paths/ROut.path
+++ b/src/main/deploy/pathplanner/paths/ROut.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0.0,
diff --git a/src/main/deploy/pathplanner/paths/Rotate180.path b/src/main/deploy/pathplanner/paths/Rotate180.path
index 9400381..e14f4bc 100644
--- a/src/main/deploy/pathplanner/paths/Rotate180.path
+++ b/src/main/deploy/pathplanner/paths/Rotate180.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/SpinTest.path b/src/main/deploy/pathplanner/paths/SpinTest.path
index 3e896cf..dcc6f48 100644
--- a/src/main/deploy/pathplanner/paths/SpinTest.path
+++ b/src/main/deploy/pathplanner/paths/SpinTest.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/TestFromBack.path b/src/main/deploy/pathplanner/paths/TestFromBack.path
index f240749..6fe8c8d 100644
--- a/src/main/deploy/pathplanner/paths/TestFromBack.path
+++ b/src/main/deploy/pathplanner/paths/TestFromBack.path
@@ -43,10 +43,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/ToSpeakerTEst.path b/src/main/deploy/pathplanner/paths/ToSpeakerTEst.path
index 0c54388..6f1a462 100644
--- a/src/main/deploy/pathplanner/paths/ToSpeakerTEst.path
+++ b/src/main/deploy/pathplanner/paths/ToSpeakerTEst.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index b03b0b3..6e63de0 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -108,8 +108,8 @@ public static final class IntakeConstants {
     public static final double kv = 5;
     public static double percentPower = 0.8;
 
-    public static final int conveyorSensor = 0;
-    public static final int shooterSensor = 1;
+    public static final int conveyorSensor = 1;
+    public static final int shooterSensor = 0;
   }
 
   public static final class ArmConstants {
@@ -120,13 +120,13 @@ public static final class ArmConstants {
 
     public static final double armConversion = 0.05;
 
-    public static final double kMaxOutput = 0.33;
+    public static final double kMaxOutput = 0.3;
 
     // // Arm PID constants
     public static final double kP = 0.65;
     public static final double kI = 0.0;
-    public static final double kD = 0.035 * 1.10;
-    public static final double kWeightBasedFF = 0.025 * 1.3 * 1.15 * 0.85;
+    public static final double kD = 0.035;
+    public static final double kWeightBasedFF = 0.025 * 1.3 * 1.4;
 
     // // Arm PID constants
     // public static final double kP = 0;
@@ -141,7 +141,7 @@ public static final class ArmConstants {
     public static final double minimumAngle = 0;
     public static final double maximumAngle = Math.PI;
 
-    public static final double uprightAngle = 1.753; // (for gravity calculations for PID)
+    public static final double uprightAngle = 1.734; // (for gravity calculations for PID)
 
     // do not use
     // public static final double kFF = 0.0;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bdd57b8..d86095f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -310,9 +310,7 @@ private void configureButtonBindings() {
         .start()
         .whileTrue(Commands.startEnd(() -> sIntake.runFull(), sIntake::stop, sIntake));
 
-    driverController
-        .rightBumper()
-        .whileTrue(Commands.run(() -> sDrive.slowMode()));
+    driverController.rightBumper().whileTrue(Commands.run(() -> sDrive.slowMode()));
 
     // ! TEST <
     driverController.a().whileTrue(sDrive.getZeroAuton());
diff --git a/src/main/java/frc/robot/commands/PreRunShooter.java b/src/main/java/frc/robot/commands/PreRunShooter.java
index 68bd7c5..8810eb5 100644
--- a/src/main/java/frc/robot/commands/PreRunShooter.java
+++ b/src/main/java/frc/robot/commands/PreRunShooter.java
@@ -49,7 +49,7 @@ public void execute() {
       if (intake.getConveyerProximity()) {
         flywheel.runVelocity(Constants.FlywheelConstants.slowShootingVelocity);
       } else {
-        flywheel.runVelocity(100);
+        flywheel.runVelocity(300);
       }
     }
   }
diff --git a/src/main/java/frc/robot/subsystems/arm/ArmIOSparkMax.java b/src/main/java/frc/robot/subsystems/arm/ArmIOSparkMax.java
index 7deb3f4..1b2d1f9 100644
--- a/src/main/java/frc/robot/subsystems/arm/ArmIOSparkMax.java
+++ b/src/main/java/frc/robot/subsystems/arm/ArmIOSparkMax.java
@@ -41,8 +41,7 @@ public class ArmIOSparkMax implements ArmIO {
 
   private final PIDController mathPid;
 
-  private double targetAngle =
-      Constants.ArmConstants.uprightAngle; // 2.2// Radians, just a default value
+  private double targetAngle = 0.747; // 2.2// Radians, just a default value
 
   private double lastEncoderReading = 0.4;
 
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index bad756c..a599e9e 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -89,7 +89,7 @@ public Drive(
         () -> kinematics.toChassisSpeeds(getModuleStates()),
         this::runVelocity,
         new HolonomicPathFollowerConfig(
-            new PIDConstants(8.0, 0.0, 0.0),
+            new PIDConstants(6.0, 0.0, 0.3),
             new PIDConstants(10.0, 0.0, 0.0),
             CurrentMaxLinearSpeed,
             DRIVE_BASE_RADIUS,
diff --git a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java
index 064e012..dfc223e 100644
--- a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java
+++ b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java
@@ -59,6 +59,7 @@ public void runVolts(double volts) {
 
   /** Run closed loop at the specified velocity. */
   public void runVelocity(double velocityRPS) {
+    velocityRPS = -velocityRPS;
 
     io.setVelocity(velocityRPS, ffModel.calculate(velocityRPS));
 
diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index dc94f07..6a3fb31 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -72,6 +72,7 @@ public void runVolts(double volts) {
 
   /** Run closed loop at the percent speed. */
   public void runPercentSpeed(double percentSpeed) {
+    percentSpeed = -percentSpeed;
     io.setPercentSpeed(percentSpeed);
 
     // Log flywheel setpoint