From e69a851f346cee2167806a3b381afd1f4c37c5df Mon Sep 17 00:00:00 2001
From: 24cirinom <112493487+24cirinom@users.noreply.github.com>
Date: Tue, 2 Apr 2024 16:09:44 -0500
Subject: [PATCH] auton is slower but more accurate

---
 .pathplanner/settings.json                           | 8 ++++----
 src/main/deploy/pathplanner/paths/1Meter.path        | 8 ++++----
 src/main/deploy/pathplanner/paths/1Pickup.path       | 8 ++++----
 src/main/deploy/pathplanner/paths/1Reverse.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/1toF1.path         | 8 ++++----
 src/main/deploy/pathplanner/paths/2Pickup.path       | 8 ++++----
 src/main/deploy/pathplanner/paths/2Reverse.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/3Pickup.path       | 8 ++++----
 src/main/deploy/pathplanner/paths/3Reverse.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/ALFirst.path       | 8 ++++----
 src/main/deploy/pathplanner/paths/AMFirst.path       | 8 ++++----
 src/main/deploy/pathplanner/paths/ARFirst.path       | 8 ++++----
 src/main/deploy/pathplanner/paths/ARMidway.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/ARSecond.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/BlueShoot1.path    | 8 ++++----
 src/main/deploy/pathplanner/paths/LFirst.path        | 8 ++++----
 src/main/deploy/pathplanner/paths/MFirst.path        | 8 ++++----
 src/main/deploy/pathplanner/paths/Measuring.path     | 8 ++++----
 src/main/deploy/pathplanner/paths/MoveForward.path   | 8 ++++----
 src/main/deploy/pathplanner/paths/Point1-2.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/Point1-3.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/Point2-1.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/Point2-3.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/Point3-1.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/Point3-2.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/PointF1-F2.path    | 8 ++++----
 src/main/deploy/pathplanner/paths/PointF2-F1.path    | 8 ++++----
 src/main/deploy/pathplanner/paths/RFirst.path        | 8 ++++----
 src/main/deploy/pathplanner/paths/ROut.path          | 8 ++++----
 src/main/deploy/pathplanner/paths/Rotate180.path     | 8 ++++----
 src/main/deploy/pathplanner/paths/SpinTest.path      | 8 ++++----
 src/main/deploy/pathplanner/paths/TestFromBack.path  | 8 ++++----
 src/main/deploy/pathplanner/paths/ToSpeakerTEst.path | 8 ++++----
 33 files changed, 132 insertions(+), 132 deletions(-)

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,