diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index c0c0ef4..03880c7 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.56,
-  "robotLength": 0.56,
+  "robotWidth": 0.75,
+  "robotLength": 0.75,
   "holonomicMode": true,
   "pathFolders": [
     "2Note",
@@ -16,9 +16,9 @@
     "4Note",
     "3Note"
   ],
-  "defaultMaxVel": 3.5,
+  "defaultMaxVel": 4.5,
   "defaultMaxAccel": 2.5,
   "defaultMaxAngVel": 750.0,
   "defaultMaxAngAccel": 650.0,
-  "maxModuleSpeed": 4.0
+  "maxModuleSpeed": 5.0
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/2NoteCenter.path b/src/main/deploy/pathplanner/paths/2NoteCenter.path
index 6dada48..1c98f4d 100644
--- a/src/main/deploy/pathplanner/paths/2NoteCenter.path
+++ b/src/main/deploy/pathplanner/paths/2NoteCenter.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/2NoteLeft.path b/src/main/deploy/pathplanner/paths/2NoteLeft.path
index 0b08fd4..a1b189c 100644
--- a/src/main/deploy/pathplanner/paths/2NoteLeft.path
+++ b/src/main/deploy/pathplanner/paths/2NoteLeft.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/2NoteRight.path b/src/main/deploy/pathplanner/paths/2NoteRight.path
index 91eb6bc..6955135 100644
--- a/src/main/deploy/pathplanner/paths/2NoteRight.path
+++ b/src/main/deploy/pathplanner/paths/2NoteRight.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/3NoteLong1.path b/src/main/deploy/pathplanner/paths/3NoteLong1.path
index 39adf49..4a8b849 100644
--- a/src/main/deploy/pathplanner/paths/3NoteLong1.path
+++ b/src/main/deploy/pathplanner/paths/3NoteLong1.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/3NoteLong2.path b/src/main/deploy/pathplanner/paths/3NoteLong2.path
index feebe5f..00c014e 100644
--- a/src/main/deploy/pathplanner/paths/3NoteLong2.path
+++ b/src/main/deploy/pathplanner/paths/3NoteLong2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/3NoteLong3.path b/src/main/deploy/pathplanner/paths/3NoteLong3.path
index 08d79f3..e8d6654 100644
--- a/src/main/deploy/pathplanner/paths/3NoteLong3.path
+++ b/src/main/deploy/pathplanner/paths/3NoteLong3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/3NoteLongFar1.path b/src/main/deploy/pathplanner/paths/3NoteLongFar1.path
index e899db9..4ec9105 100644
--- a/src/main/deploy/pathplanner/paths/3NoteLongFar1.path
+++ b/src/main/deploy/pathplanner/paths/3NoteLongFar1.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/3NoteLongFar2.path b/src/main/deploy/pathplanner/paths/3NoteLongFar2.path
index 4f3075a..78c5894 100644
--- a/src/main/deploy/pathplanner/paths/3NoteLongFar2.path
+++ b/src/main/deploy/pathplanner/paths/3NoteLongFar2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/3NoteLongFar3.path b/src/main/deploy/pathplanner/paths/3NoteLongFar3.path
index 1f048ed..8515182 100644
--- a/src/main/deploy/pathplanner/paths/3NoteLongFar3.path
+++ b/src/main/deploy/pathplanner/paths/3NoteLongFar3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar1.path b/src/main/deploy/pathplanner/paths/4NoteFar1.path
index 69fd667..fa4cc14 100644
--- a/src/main/deploy/pathplanner/paths/4NoteFar1.path
+++ b/src/main/deploy/pathplanner/paths/4NoteFar1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.861252448483544,
-        "y": 0.7595790280548544
+        "x": 7.877250726723676,
+        "y": 0.7441456410690599
       },
       "prevControl": {
-        "x": 7.378279301981696,
-        "y": 0.5791099032277166
+        "x": 7.394277580221828,
+        "y": 0.563676516241922
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
@@ -48,5 +48,5 @@
     "rotation": 120.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar2.path b/src/main/deploy/pathplanner/paths/4NoteFar2.path
index 7356e98..c00599f 100644
--- a/src/main/deploy/pathplanner/paths/4NoteFar2.path
+++ b/src/main/deploy/pathplanner/paths/4NoteFar2.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.86,
-        "y": 0.76
+        "x": 7.88,
+        "y": 0.74
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.038403841992869,
-        "y": 0.7686479647033372
+        "x": 5.1696668595189035,
+        "y": 0.5868489590682893
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.526361960131328,
-        "y": 3.377842806611539
+        "x": 0.7276091496627439,
+        "y": 4.394622127207218
       },
       "prevControl": {
-        "x": 2.069874246229974,
-        "y": 3.2112696262429563
+        "x": 0.7478592225702972,
+        "y": 2.8420175636647573
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 140.0,
+    "rotation": 120.0,
     "rotateFast": true
   },
   "reversed": false,
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar3.path b/src/main/deploy/pathplanner/paths/4NoteFar3.path
index 89b6de5..29c93b6 100644
--- a/src/main/deploy/pathplanner/paths/4NoteFar3.path
+++ b/src/main/deploy/pathplanner/paths/4NoteFar3.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.53,
-        "y": 3.38
+        "x": 0.73,
+        "y": 4.39
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.3101169813450735,
-        "y": 1.5388867722179895
+        "x": 1.5101169813450737,
+        "y": 2.5488867722179895
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 2.4150717815077387
       },
       "prevControl": {
-        "x": 6.22438145251933,
-        "y": 1.6572677334922357
+        "x": 3.7492644568622473,
+        "y": 1.3023587945324044
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
@@ -45,8 +45,8 @@
   "reversed": false,
   "folder": "4NoteFarSide",
   "previewStartingState": {
-    "rotation": 180.0,
+    "rotation": 120.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar4.path b/src/main/deploy/pathplanner/paths/4NoteFar4.path
index 14f8d64..19de0c1 100644
--- a/src/main/deploy/pathplanner/paths/4NoteFar4.path
+++ b/src/main/deploy/pathplanner/paths/4NoteFar4.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.91237765642198,
-        "y": 0.9940225684155071
+        "x": 4.158244668341188,
+        "y": 0.06615419712320972
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.83,
-        "y": 3.197848756808625
+        "x": 0.7571231855426677,
+        "y": 4.39634427417003
       },
       "prevControl": {
-        "x": 3.4800214018946556,
-        "y": 2.0599253050357955
+        "x": 0.7697720580626349,
+        "y": 3.9270889189926534
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 140.0,
+    "rotation": 120.0,
     "rotateFast": true
   },
   "reversed": false,
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar5.path b/src/main/deploy/pathplanner/paths/4NoteFar5.path
deleted file mode 100644
index a465133..0000000
--- a/src/main/deploy/pathplanner/paths/4NoteFar5.path
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-  "version": 1.0,
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 2.83,
-        "y": 3.2
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 4.250052916772501,
-        "y": 0.669261940375733
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 8.0,
-        "y": 4.092177489910536
-      },
-      "prevControl": {
-        "x": 8.778054120923056,
-        "y": 2.223885572771146
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 2.5,
-    "maxAngularVelocity": 750.0,
-    "maxAngularAcceleration": 650.0
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 180.0,
-    "rotateFast": true
-  },
-  "reversed": false,
-  "folder": "4NoteFarSide",
-  "previewStartingState": {
-    "rotation": 180.0,
-    "velocity": 0
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar6.path b/src/main/deploy/pathplanner/paths/4NoteFar6.path
deleted file mode 100644
index 2c66a4f..0000000
--- a/src/main/deploy/pathplanner/paths/4NoteFar6.path
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-  "version": 1.0,
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 8.0,
-        "y": 4.09
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 8.554744682452327,
-        "y": 0.9279043311790324
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.184961170848268,
-        "y": 3.6343833196925655
-      },
-      "prevControl": {
-        "x": 2.050336785858757,
-        "y": 1.5023653797307601
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 2.5,
-    "maxAngularVelocity": 750.0,
-    "maxAngularAcceleration": 650.0
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 140.0,
-    "rotateFast": true
-  },
-  "reversed": false,
-  "folder": "4NoteFarSide",
-  "previewStartingState": {
-    "rotation": 180.0,
-    "velocity": 0
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/4NoteSecondLine1.path b/src/main/deploy/pathplanner/paths/4NoteSecondLine1.path
index 0fad61c..7d7347c 100644
--- a/src/main/deploy/pathplanner/paths/4NoteSecondLine1.path
+++ b/src/main/deploy/pathplanner/paths/4NoteSecondLine1.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/4NoteSecondLine2.path b/src/main/deploy/pathplanner/paths/4NoteSecondLine2.path
index 27b8269..d79c9a9 100644
--- a/src/main/deploy/pathplanner/paths/4NoteSecondLine2.path
+++ b/src/main/deploy/pathplanner/paths/4NoteSecondLine2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/4NoteSecondLine3.path b/src/main/deploy/pathplanner/paths/4NoteSecondLine3.path
index 2c5160f..c9ad79f 100644
--- a/src/main/deploy/pathplanner/paths/4NoteSecondLine3.path
+++ b/src/main/deploy/pathplanner/paths/4NoteSecondLine3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/4NoteSecondLine4.path b/src/main/deploy/pathplanner/paths/4NoteSecondLine4.path
index 98b0312..5f8e3fc 100644
--- a/src/main/deploy/pathplanner/paths/4NoteSecondLine4.path
+++ b/src/main/deploy/pathplanner/paths/4NoteSecondLine4.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/4NoteSecondLine5.path b/src/main/deploy/pathplanner/paths/4NoteSecondLine5.path
index ed86b99..5eecaef 100644
--- a/src/main/deploy/pathplanner/paths/4NoteSecondLine5.path
+++ b/src/main/deploy/pathplanner/paths/4NoteSecondLine5.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/BLNote2Note.path b/src/main/deploy/pathplanner/paths/BLNote2Note.path
index 5032dac..aa143cb 100644
--- a/src/main/deploy/pathplanner/paths/BLNote2Note.path
+++ b/src/main/deploy/pathplanner/paths/BLNote2Note.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/BLNote2Note2.path b/src/main/deploy/pathplanner/paths/BLNote2Note2.path
index b4297b9..28fad8c 100644
--- a/src/main/deploy/pathplanner/paths/BLNote2Note2.path
+++ b/src/main/deploy/pathplanner/paths/BLNote2Note2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/BLSpeakerToNote.path b/src/main/deploy/pathplanner/paths/BLSpeakerToNote.path
index f251086..d3a77a0 100644
--- a/src/main/deploy/pathplanner/paths/BLSpeakerToNote.path
+++ b/src/main/deploy/pathplanner/paths/BLSpeakerToNote.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/Name-R.path b/src/main/deploy/pathplanner/paths/Name-R.path
index 2eebadf..04134a4 100644
--- a/src/main/deploy/pathplanner/paths/Name-R.path
+++ b/src/main/deploy/pathplanner/paths/Name-R.path
@@ -64,7 +64,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/flipped-Name-R-2.path b/src/main/deploy/pathplanner/paths/flipped-Name-R-2.path
index c4323ea..1027c6b 100644
--- a/src/main/deploy/pathplanner/paths/flipped-Name-R-2.path
+++ b/src/main/deploy/pathplanner/paths/flipped-Name-R-2.path
@@ -64,7 +64,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
diff --git a/src/main/deploy/pathplanner/paths/flipped-Name-R.path b/src/main/deploy/pathplanner/paths/flipped-Name-R.path
index 845ea58..76f4e3f 100644
--- a/src/main/deploy/pathplanner/paths/flipped-Name-R.path
+++ b/src/main/deploy/pathplanner/paths/flipped-Name-R.path
@@ -64,7 +64,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0