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 ccfa902..54def77 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": 1.0549180327868852,
-        "y": 7.285655737704918
+        "x": 1.2587090163934425,
+        "y": 7.08186475409836
       },
       "prevControl": {
-        "x": 1.9113820738827756,
-        "y": 6.339037587019986
+        "x": 2.115173057489333,
+        "y": 6.135246603413428
       },
       "nextControl": null,
       "isLocked": false,
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 2.5,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
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 6b76674..096023c 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": 1.0549180327868852,
-        "y": 7.285655737704918
+        "x": 1.2587090163934425,
+        "y": 7.08186475409836
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3471269368964744,
-        "y": 7.060270463732315
+        "x": 2.550917920503032,
+        "y": 6.856479480125757
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
     },
     {
       "anchor": {
-        "x": 3.5723360655737704,
-        "y": 4.996004098360656
+        "x": 3.6442622950819668,
+        "y": 5.031967213114754
       },
       "prevControl": {
-        "x": 3.256796682012127,
-        "y": 5.521903070963395
+        "x": 3.328722911520323,
+        "y": 5.557866185717494
       },
       "nextControl": null,
       "isLocked": false,
@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.25,
+    "maxAcceleration": 1.5,
     "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 5b5e435..9d72bd4 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": 1.0549180327868852,
-        "y": 7.285655737704918
+        "x": 1.2587090163934425,
+        "y": 7.08186475409836
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5703893442622952,
-        "y": 6.734221311475409
+        "x": 1.7741803278688524,
+        "y": 6.530430327868851
       },
       "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 4d0efd8..2c7a178 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": 3.5723360655737704,
-        "y": 4.996004098360656
+        "x": 3.6442622950819668,
+        "y": 5.031967213114754
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.4398363305729753,
-        "y": 5.208003674361928
+        "x": 3.5117625600811717,
+        "y": 5.243966789116026
       },
       "isLocked": false,
       "linkedName": "L"
     },
     {
       "anchor": {
-        "x": 1.0549180327868852,
-        "y": 7.285655737704918
+        "x": 1.2587090163934425,
+        "y": 7.08186475409836
       },
       "prevControl": {
-        "x": 1.258709016393443,
-        "y": 7.009938524590164
+        "x": 1.4625000000000001,
+        "y": 6.8061475409836065
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index deca0d1..2124be5 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -180,14 +180,16 @@ public class Drivetrain extends SubsystemBase {
         m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(360)));
 
         if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){
-            if(vision.getOrangeDist() < 60 && getVelocity() < 2){
+            if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) < 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
-            }else if(vision.getOrangeDist() < 100 && getVelocity() < 2){
+            }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) < 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
-            }else if(vision.getOrangeDist() < 60 && getVelocity() > 2){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.15, 0.15, Units.degreesToRadians(360)));
-            }else if(vision.getOrangeDist() < 100 && getVelocity() > 2){
+            }else if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) > 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
+            }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
+            }else if(getVelocity() < 1.5){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.06, 0.06, Units.degreesToRadians(360)));
             }
 
             // if the detected tags match your alliances reef tags use their pose estimates  
@@ -206,14 +208,16 @@ public class Drivetrain extends SubsystemBase {
 
 
         if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
-            if(vision.getBlackDist() < 60 && getVelocity() < 2){
+            if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) < 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
-            }else if(vision.getBlackDist() < 100 && getVelocity() < 2){
+            }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) < 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
-            }else if(vision.getBlackDist() < 60 && getVelocity() > 2){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.15, 0.15, Units.degreesToRadians(360)));
-            }else if(vision.getBlackDist() < 100 && getVelocity() > 2){
+            }else if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) > 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
+            }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
+            }else if(getVelocity() < 1.5){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.06, 0.06, Units.degreesToRadians(360)));
             }
 
             if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){