diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
index c1c18ae..dd67303 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
@@ -22,7 +22,8 @@ public class Constants {
             .lateralZeroPowerAcceleration(-72.872)
             .translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012))
             .headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02))
-            .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.03, 0, 0, 0.6, 0.03));
+            .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.03, 0, 0, 0.6, 0.03))
+            .centripetalScaling(0.0005);
 
     public static MecanumConstants driveConstants = new MecanumConstants()
             .maxPower(1)
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
index 1de9ad4..20f8497 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
@@ -114,7 +114,7 @@ public class Tuning extends SelectableOpMode {
 
     public static void drawCurrent() {
         try {
-            Drawing.drawRobot(follower.getPose(), "blue");
+            Drawing.drawRobot(follower.getPose(), "green");
             Drawing.sendPacket();
         } catch (Exception e) {
             throw new RuntimeException("Drawing failed " + e);