diff --git a/src/main/deploy/pathplanner/paths/30 Right to HP.path b/src/main/deploy/pathplanner/paths/30 Right to HP.path
index 34c74e8..9d44a71 100644
--- a/src/main/deploy/pathplanner/paths/30 Right to HP.path	
+++ b/src/main/deploy/pathplanner/paths/30 Right to HP.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.0549180327868852,
+        "y": 7.285655737704918
       },
       "prevControl": {
-        "x": 2.055234532899169,
-        "y": 6.243135947675724
+        "x": 1.9113820738827756,
+        "y": 6.339037587019986
       },
       "nextControl": null,
       "isLocked": false,
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 7ee14ee..71bb973 100644
--- a/src/main/deploy/pathplanner/paths/HP to 330 Right.path	
+++ b/src/main/deploy/pathplanner/paths/HP to 330 Right.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.0549180327868852,
+        "y": 7.285655737704918
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.490979395912868,
-        "y": 6.964368824388053
+        "x": 2.3471269368964744,
+        "y": 7.060270463732315
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
     },
     {
       "anchor": {
-        "x": 3.6202868852459016,
-        "y": 5.031967213114754
+        "x": 3.65625,
+        "y": 5.05594262295082
       },
       "prevControl": {
-        "x": 3.304747501684258,
-        "y": 5.557866185717494
+        "x": 3.3407106164383564,
+        "y": 5.581841595553559
       },
       "nextControl": null,
       "isLocked": false,
@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -62,5 +62,5 @@
     "velocity": 0,
     "rotation": -53.97262661489646
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/HP to K.path b/src/main/deploy/pathplanner/paths/HP to K.path
index 3f834b0..5b5e435 100644
--- a/src/main/deploy/pathplanner/paths/HP to K.path	
+++ b/src/main/deploy/pathplanner/paths/HP to K.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.0549180327868852,
+        "y": 7.285655737704918
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7142418032786886,
-        "y": 6.638319672131147
+        "x": 1.5703893442622952,
+        "y": 6.734221311475409
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
diff --git a/src/main/deploy/pathplanner/paths/L Backup.path b/src/main/deploy/pathplanner/paths/L Backup.path
index 53135f0..fb45c41 100644
--- a/src/main/deploy/pathplanner/paths/L Backup.path	
+++ b/src/main/deploy/pathplanner/paths/L Backup.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.6202868852459016,
-        "y": 5.031967213114754
+        "x": 3.65625,
+        "y": 5.05594262295082
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.4877871502451065,
-        "y": 5.243966789116026
+        "x": 3.523750264999205,
+        "y": 5.267942198952092
       },
       "isLocked": false,
       "linkedName": "L"
     },
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.0549180327868852,
+        "y": 7.285655737704918
       },
       "prevControl": {
-        "x": 1.4025614754098363,
-        "y": 6.914036885245903
+        "x": 1.258709016393443,
+        "y": 7.009938524590164
       },
       "nextControl": null,
       "isLocked": false,
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 70e06de..a5b20af 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": 1.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -62,5 +62,5 @@
     "velocity": 0,
     "rotation": -90.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index e5c4693..3cc0d61 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -112,7 +112,7 @@ public class Drivetrain extends SubsystemBase {
             },
             new Pose2d(),
             VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(5)),
-            VecBuilder.fill(1, 1, Units.degreesToRadians(360))
+            VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360))
         );
 
         pidHeading = new ProfiledPIDController(AutoConstants.kAlignPThetaController, 0, 0, AutoConstants.kAlignThetaControllerConstraints);
@@ -177,11 +177,11 @@ public class Drivetrain extends SubsystemBase {
 
         gyroBuffer.addSample(Timer.getFPGATimestamp(), m_estimator.getEstimatedPosition().getRotation().getDegrees());
 
-        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
+        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.10, 0.10, Units.degreesToRadians(360)));
 
         if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){
             if(vision.getOrangeDist() < 60){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
             }
 
             // if the detected tags match your alliances reef tags use their pose estimates  
@@ -199,7 +199,7 @@ public class Drivetrain extends SubsystemBase {
 
         if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
             if(vision.getBlackDist() < 60){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
             }
 
             if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){
diff --git a/src/main/java/frc/robot/subsystems/Manipulator.java b/src/main/java/frc/robot/subsystems/Manipulator.java
index c5baba4..d223707 100644
--- a/src/main/java/frc/robot/subsystems/Manipulator.java
+++ b/src/main/java/frc/robot/subsystems/Manipulator.java
@@ -84,8 +84,8 @@ public class Manipulator extends SubsystemBase {
      */
     public Command runUntilCollected(DoubleSupplier speed) {
         return run(() -> {
-            manipulatorMotor.set(
-                speed.getAsDouble()
+            manipulatorMotor.setVoltage(
+                speed.getAsDouble()*12
             );
 
             indexerMotor.set(1);