diff --git a/pybot/deploy/choreo/FRC2025Path.chor b/pybot/deploy/choreo/FRC2025Path.chor
index 1f0bce1..f2a7c0d 100644
--- a/pybot/deploy/choreo/FRC2025Path.chor
+++ b/pybot/deploy/choreo/FRC2025Path.chor
@@ -36,24 +36,24 @@
    "val":6.0
   },
   "gearing":{
-   "exp":"6.5",
-   "val":6.5
+   "exp":"5.9",
+   "val":5.9
   },
   "radius":{
-   "exp":"1.5 in",
-   "val":0.038099999999999995
+   "exp":"2 in",
+   "val":0.0508
   },
   "vmax":{
-   "exp":"6000 RPM",
-   "val":628.3185307179587
+   "exp":"5800 RPM",
+   "val":607.3745796940267
   },
   "tmax":{
-   "exp":"1.2 N * m",
-   "val":1.2
+   "exp":"9 N * m",
+   "val":9.0
   },
   "cof":{
-   "exp":"1.5",
-   "val":1.5
+   "exp":"0.9",
+   "val":0.9
   },
   "bumper":{
    "front":{
diff --git a/pybot/deploy/choreo/outwayblue.traj b/pybot/deploy/choreo/outwayblue.traj
index ac94958..fc2086b 100644
--- a/pybot/deploy/choreo/outwayblue.traj
+++ b/pybot/deploy/choreo/outwayblue.traj
@@ -3,7 +3,7 @@
  "version":1,
  "snapshot":{
   "waypoints":[
-    {"x":6.816155433654785, "y":1.5941511392593384, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.816155433654785, "y":1.5941511392593384, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.8592488765716553, "y":1.4704978466033936, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"6.816155433654785 m", "val":6.816155433654785}, "y":{"exp":"1.5941511392593384 m", "val":1.5941511392593384}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.816155433654785 m", "val":6.816155433654785}, "y":{"exp":"1.5941511392593384 m", "val":1.5941511392593384}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"2.8592488765716553 m", "val":2.8592488765716553}, "y":{"exp":"1.4704978466033936 m", "val":1.4704978466033936}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -26,36 +26,32 @@
  },
  "trajectory":{
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.34323],
+  "waypoints":[0.0,1.17985],
   "samples":[
-    {"t":0.0, "x":6.81616, "y":1.59415, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-13.86859, "ay":-0.43339, "alpha":0.0, "fx":[-204.44737,-204.44737,-204.44737,-204.44737], "fy":[-6.38898,-6.38898,-6.38898,-6.38898]},
-    {"t":0.04975, "x":6.79899, "y":1.59361, "heading":0.0, "vx":-0.68995, "vy":-0.02156, "omega":0.0, "ax":-13.86558, "ay":-0.4333, "alpha":0.0, "fx":[-204.40296,-204.40296,-204.40296,-204.40296], "fy":[-6.38759,-6.38759,-6.38759,-6.38759]},
-    {"t":0.0995, "x":6.74751, "y":1.59201, "heading":0.0, "vx":-1.37976, "vy":-0.04312, "omega":0.0, "ax":-13.86056, "ay":-0.43314, "alpha":0.0, "fx":[-204.32889,-204.32889,-204.32889,-204.32889], "fy":[-6.38528,-6.38528,-6.38528,-6.38528]},
-    {"t":0.14925, "x":6.66171, "y":1.58932, "heading":0.0, "vx":-2.06931, "vy":-0.06467, "omega":0.0, "ax":-13.8505, "ay":-0.43283, "alpha":0.0, "fx":[-204.18057,-204.18057,-204.18057,-204.18057], "fy":[-6.38064,-6.38064,-6.38064,-6.38064]},
-    {"t":0.199, "x":6.54163, "y":1.58557, "heading":0.0, "vx":-2.75837, "vy":-0.0862, "omega":0.0, "ax":-13.82026, "ay":-0.43188, "alpha":0.0, "fx":[-203.7348,-203.7348,-203.7348,-203.7348], "fy":[-6.36671,-6.36671,-6.36671,-6.36671]},
-    {"t":0.24875, "x":6.3873, "y":1.58075, "heading":0.0, "vx":-3.44592, "vy":-0.10768, "omega":0.0, "ax":-4.66758, "ay":-0.14586, "alpha":0.0, "fx":[-68.80825,-68.80825,-68.80825,-68.80825], "fy":[-2.15026,-2.15026,-2.15026,-2.15026]},
-    {"t":0.2985, "x":6.21009, "y":1.57521, "heading":0.0, "vx":-3.67813, "vy":-0.11494, "omega":0.0, "ax":-0.0002, "ay":-0.00001, "alpha":0.0, "fx":[-0.0029,-0.0029,-0.0029,-0.0029], "fy":[-0.00009,-0.00009,-0.00009,-0.00009]},
-    {"t":0.34825, "x":6.0271, "y":1.56949, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.398, "x":5.84412, "y":1.56378, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.44774, "x":5.66113, "y":1.55806, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.49749, "x":5.47815, "y":1.55234, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.54724, "x":5.29516, "y":1.54662, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.59699, "x":5.11218, "y":1.5409, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.64674, "x":4.92919, "y":1.53518, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.69649, "x":4.74621, "y":1.52947, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.74624, "x":4.56322, "y":1.52375, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.79599, "x":4.38024, "y":1.51803, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.84574, "x":4.19725, "y":1.51231, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.89549, "x":4.01427, "y":1.50659, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.94524, "x":3.83128, "y":1.50087, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.99499, "x":3.6483, "y":1.49516, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0002, "ay":0.00001, "alpha":0.0, "fx":[0.0029,0.0029,0.0029,0.0029], "fy":[0.00009,0.00009,0.00009,0.00009]},
-    {"t":1.04474, "x":3.46531, "y":1.48944, "heading":0.0, "vx":-3.67813, "vy":-0.11494, "omega":0.0, "ax":4.66758, "ay":0.14586, "alpha":0.0, "fx":[68.80825,68.80825,68.80825,68.80825], "fy":[2.15026,2.15026,2.15026,2.15026]},
-    {"t":1.09449, "x":3.28811, "y":1.4839, "heading":0.0, "vx":-3.44592, "vy":-0.10768, "omega":0.0, "ax":13.82026, "ay":0.43188, "alpha":0.0, "fx":[203.7348,203.7348,203.7348,203.7348], "fy":[6.36671,6.36671,6.36671,6.36671]},
-    {"t":1.14424, "x":3.13378, "y":1.47908, "heading":0.0, "vx":-2.75837, "vy":-0.0862, "omega":0.0, "ax":13.8505, "ay":0.43283, "alpha":0.0, "fx":[204.18057,204.18057,204.18057,204.18057], "fy":[6.38064,6.38064,6.38064,6.38064]},
-    {"t":1.19399, "x":3.01369, "y":1.47532, "heading":0.0, "vx":-2.06931, "vy":-0.06467, "omega":0.0, "ax":13.86056, "ay":0.43314, "alpha":0.0, "fx":[204.32889,204.32889,204.32889,204.32889], "fy":[6.38528,6.38528,6.38528,6.38528]},
-    {"t":1.24374, "x":2.92789, "y":1.47264, "heading":0.0, "vx":-1.37976, "vy":-0.04312, "omega":0.0, "ax":13.86558, "ay":0.4333, "alpha":0.0, "fx":[204.40296,204.40296,204.40296,204.40296], "fy":[6.38759,6.38759,6.38759,6.38759]},
-    {"t":1.29348, "x":2.87641, "y":1.47103, "heading":0.0, "vx":-0.68995, "vy":-0.02156, "omega":0.0, "ax":13.86859, "ay":0.43339, "alpha":0.0, "fx":[204.44737,204.44737,204.44737,204.44737], "fy":[6.38898,6.38898,6.38898,6.38898]},
-    {"t":1.34323, "x":2.85925, "y":1.4705, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+    {"t":0.0, "x":6.81616, "y":1.59415, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-58.71615, "ay":-1.83488, "alpha":0.0, "fx":[-932.16193,-932.16193,-932.16193,-932.16193], "fy":[-29.13005,-29.13005,-29.13005,-29.13005]},
+    {"t":0.0513, "x":6.7389, "y":1.59174, "heading":0.0, "vx":-3.01201, "vy":-0.09413, "omega":0.0, "ax":-10.59659, "ay":-0.33114, "alpha":0.0, "fx":[-168.22858,-168.22858,-168.22858,-168.22858], "fy":[-5.25714,-5.25714,-5.25714,-5.25714]},
+    {"t":0.1026, "x":6.57045, "y":1.58647, "heading":0.0, "vx":-3.55559, "vy":-0.11111, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.0003,-0.0003,-0.0003,-0.0003], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":0.15389, "x":6.38805, "y":1.58077, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.20519, "x":6.20566, "y":1.57507, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.25649, "x":6.02327, "y":1.56937, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.30779, "x":5.84087, "y":1.56367, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.35908, "x":5.65848, "y":1.55797, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.41038, "x":5.47608, "y":1.55227, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.46168, "x":5.29369, "y":1.54657, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.51298, "x":5.11129, "y":1.54087, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.56428, "x":4.9289, "y":1.53517, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.61557, "x":4.7465, "y":1.52947, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.66687, "x":4.56411, "y":1.52377, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.71817, "x":4.38172, "y":1.51807, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.76947, "x":4.19932, "y":1.51238, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.82077, "x":4.01693, "y":1.50668, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.87206, "x":3.83453, "y":1.50098, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.92336, "x":3.65214, "y":1.49528, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.97466, "x":3.46974, "y":1.48958, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.02596, "x":3.28735, "y":1.48388, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.0003,0.0003,0.0003,0.0003], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":1.07725, "x":3.10496, "y":1.47818, "heading":0.0, "vx":-3.55559, "vy":-0.11111, "omega":0.0, "ax":10.59659, "ay":0.33114, "alpha":0.0, "fx":[168.22858,168.22858,168.22858,168.22858], "fy":[5.25714,5.25714,5.25714,5.25714]},
+    {"t":1.12855, "x":2.9365, "y":1.47291, "heading":0.0, "vx":-3.01201, "vy":-0.09413, "omega":0.0, "ax":58.71615, "ay":1.83488, "alpha":0.0, "fx":[932.16193,932.16193,932.16193,932.16193], "fy":[29.13005,29.13005,29.13005,29.13005]},
+    {"t":1.17985, "x":2.85925, "y":1.4705, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/pybot/deploy/choreo/outwayred.traj b/pybot/deploy/choreo/outwayred.traj
index 47ebc61..56b77f5 100644
--- a/pybot/deploy/choreo/outwayred.traj
+++ b/pybot/deploy/choreo/outwayred.traj
@@ -3,7 +3,7 @@
  "version":1,
  "snapshot":{
   "waypoints":[
-    {"x":11.308893203735352, "y":1.5529333353042605, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":11.308893203735352, "y":1.5529333353042605, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":14.482662200927734, "y":1.5529333353042605, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"11.308893203735352 m", "val":11.308893203735352}, "y":{"exp":"1.5529333353042603 m", "val":1.5529333353042605}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"11.308893203735352 m", "val":11.308893203735352}, "y":{"exp":"1.5529333353042603 m", "val":1.5529333353042605}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"14.482662200927734 m", "val":14.482662200927734}, "y":{"exp":"1.5529333353042603 m", "val":1.5529333353042605}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -26,32 +26,28 @@
  },
  "trajectory":{
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.15001],
+  "waypoints":[0.0,0.95946],
   "samples":[
-    {"t":0.0, "x":11.30889, "y":1.55293, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":12.88392, "ay":0.0, "alpha":0.0, "fx":[204.54165,204.54165,204.54165,204.54165], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.05, "x":11.325, "y":1.55293, "heading":3.14159, "vx":0.6442, "vy":0.0, "omega":0.0, "ax":12.88105, "ay":0.0, "alpha":0.0, "fx":[204.49604,204.49604,204.49604,204.49604], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.1, "x":11.37331, "y":1.55293, "heading":3.14159, "vx":1.28826, "vy":0.0, "omega":0.0, "ax":12.87626, "ay":0.0, "alpha":0.0, "fx":[204.42013,204.42013,204.42013,204.42013], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.15, "x":11.45382, "y":1.55293, "heading":3.14159, "vx":1.93208, "vy":0.0, "omega":0.0, "ax":12.86673, "ay":0.0, "alpha":0.0, "fx":[204.26873,204.26873,204.26873,204.26873], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.2, "x":11.56651, "y":1.55293, "heading":3.14159, "vx":2.57542, "vy":0.0, "omega":0.0, "ax":12.83836, "ay":0.0, "alpha":0.0, "fx":[203.8184,203.8184,203.8184,203.8184], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.25, "x":11.71133, "y":1.55293, "heading":3.14159, "vx":3.21734, "vy":0.0, "omega":0.0, "ax":9.25303, "ay":0.0, "alpha":0.0, "fx":[146.89856,146.89856,146.89856,146.89856], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.3, "x":11.88376, "y":1.55293, "heading":3.14159, "vx":3.67999, "vy":0.0, "omega":0.0, "ax":0.00077, "ay":0.0, "alpha":0.0, "fx":[0.01224,0.01224,0.01224,0.01224], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.35, "x":12.06776, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.4, "x":12.25177, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.45, "x":12.43577, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.5, "x":12.61977, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.55, "x":12.80378, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.6, "x":12.98778, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.65, "x":13.17178, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.70001, "x":13.35579, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.75001, "x":13.53979, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.80001, "x":13.72379, "y":1.55293, "heading":3.14159, "vx":3.68003, "vy":0.0, "omega":0.0, "ax":-0.00077, "ay":0.0, "alpha":0.0, "fx":[-0.01224,-0.01224,-0.01224,-0.01224], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.85001, "x":13.90779, "y":1.55293, "heading":3.14159, "vx":3.67999, "vy":0.0, "omega":0.0, "ax":-9.25303, "ay":0.0, "alpha":0.0, "fx":[-146.89856,-146.89856,-146.89856,-146.89856], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.90001, "x":14.08023, "y":1.55293, "heading":3.14159, "vx":3.21734, "vy":0.0, "omega":0.0, "ax":-12.83836, "ay":0.0, "alpha":0.0, "fx":[-203.8184,-203.8184,-203.8184,-203.8184], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.95001, "x":14.22505, "y":1.55293, "heading":3.14159, "vx":2.57542, "vy":0.0, "omega":0.0, "ax":-12.86673, "ay":0.0, "alpha":0.0, "fx":[-204.26873,-204.26873,-204.26873,-204.26873], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.00001, "x":14.33774, "y":1.55293, "heading":3.14159, "vx":1.93208, "vy":0.0, "omega":0.0, "ax":-12.87626, "ay":0.0, "alpha":0.0, "fx":[-204.42013,-204.42013,-204.42013,-204.42013], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.05001, "x":14.41825, "y":1.55293, "heading":3.14159, "vx":1.28826, "vy":0.0, "omega":0.0, "ax":-12.88105, "ay":0.0, "alpha":0.0, "fx":[-204.49604,-204.49604,-204.49604,-204.49604], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.10001, "x":14.46656, "y":1.55293, "heading":3.14159, "vx":0.6442, "vy":0.0, "omega":0.0, "ax":-12.88392, "ay":0.0, "alpha":0.0, "fx":[-204.54165,-204.54165,-204.54165,-204.54165], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.15001, "x":14.48266, "y":1.55293, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+    {"t":0.0, "x":11.30889, "y":1.55293, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":58.74303, "ay":0.0, "alpha":0.0, "fx":[932.58872,932.58872,932.58872,932.58872], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.0505, "x":11.38379, "y":1.55293, "heading":3.14159, "vx":2.96641, "vy":0.0, "omega":0.0, "ax":11.70095, "ay":0.0, "alpha":0.0, "fx":[185.76122,185.76122,185.76122,185.76122], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.101, "x":11.54851, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00036,0.00036,0.00036,0.00036], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.15149, "x":11.72814, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.20199, "x":11.90778, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.25249, "x":12.08742, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.30299, "x":12.26705, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.35349, "x":12.44669, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.40398, "x":12.62632, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.45448, "x":12.80596, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.50498, "x":12.9856, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.55548, "x":13.16523, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.60598, "x":13.34487, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.65647, "x":13.5245, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.70697, "x":13.70414, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.75747, "x":13.88377, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.80797, "x":14.06341, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00036,-0.00036,-0.00036,-0.00036], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.85847, "x":14.24305, "y":1.55293, "heading":3.14159, "vx":3.55728, "vy":0.0, "omega":0.0, "ax":-11.70095, "ay":0.0, "alpha":0.0, "fx":[-185.76122,-185.76122,-185.76122,-185.76122], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.90896, "x":14.40776, "y":1.55293, "heading":3.14159, "vx":2.96641, "vy":0.0, "omega":0.0, "ax":-58.74303, "ay":0.0, "alpha":0.0, "fx":[-932.58872,-932.58872,-932.58872,-932.58872], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.95946, "x":14.48266, "y":1.55293, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/pybot/lifter.py b/pybot/lifter.py
index 0c20218..b541c24 100644
--- a/pybot/lifter.py
+++ b/pybot/lifter.py
@@ -22,7 +22,7 @@ def moveDown(self):
                 self.stop()
             else:
                 logger.info("Moving down")
-                self.motor.set(-0.15)  # Gentle downward movement
+                self.motor.set(-0.2)  # Gentle downward movement
         except Exception as e:
             logger.error(f"Error moving down: {e}")
 
@@ -33,7 +33,7 @@ def moveUp(self):
                 self.stop()
             else:
                 logger.info("Moving up")
-                self.motor.set(0.2)  # Upward movement
+                self.motor.set(0.3)  # Upward movement
         except Exception as e:
             logger.error(f"Error moving up: {e}")
 
diff --git a/pybot/robotcontainer.py b/pybot/robotcontainer.py
index 0c18342..82e9cc7 100644
--- a/pybot/robotcontainer.py
+++ b/pybot/robotcontainer.py
@@ -36,7 +36,7 @@ def __init__(self) -> None:
             TunerConstants.speed_at_12_volts * .6
         )  # speed_at_12_volts desired top speed
         self._max_angular_rate = rotationsToRadians(
-            0.75 * .5
+            0.75 * .4
             #maybe limit this rotational
         )  # 3/4 of a rotation per second max angular velocity
 
@@ -132,7 +132,7 @@ def configureButtonBindings(self) -> None:
 
         # Configure buttons for intake control
         self._joystick.rightBumper().whileTrue(commands2.cmd.startEnd(
-            lambda: self.intake.setMotor(.2),
+            lambda: self.intake.setMotor(1),
             lambda: self.intake.stop()
         ))