diff --git a/src/main/deploy/pathplanner/paths/HP to 330 Right.path b/src/main/deploy/pathplanner/paths/HP to 330 Right.path
index 66f17f4..d9f7713 100644
--- a/src/main/deploy/pathplanner/paths/HP to 330 Right.path	
+++ b/src/main/deploy/pathplanner/paths/HP to 330 Right.path	
@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/HP to K.path b/src/main/deploy/pathplanner/paths/HP to K.path
index addc2ff..d99e6fe 100644
--- a/src/main/deploy/pathplanner/paths/HP to K.path	
+++ b/src/main/deploy/pathplanner/paths/HP to K.path	
@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Start to 30 Right.path b/src/main/deploy/pathplanner/paths/Start to 30 Right.path
index 4c58b63..f3d34aa 100644
--- a/src/main/deploy/pathplanner/paths/Start to 30 Right.path	
+++ b/src/main/deploy/pathplanner/paths/Start to 30 Right.path	
@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 7ebe7b4..cc4695c 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -111,7 +111,7 @@ public class Drivetrain extends SubsystemBase {
                 m_rearRight.getPosition()
             },
             new Pose2d(),
-            VecBuilder.fill(0.07, 0.7, Units.degreesToRadians(0.5)),
+            VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(0.5)),
             VecBuilder.fill(1, 1, Units.degreesToRadians(4000))
         );