diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
index 45ad2e2..85a0fb8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
@@ -73,13 +73,13 @@ public final class MecanumDrive {
         public double kA = 0.000046;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 120;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 120;
+        public double maxWheelVel = 180;
+        public double minProfileAccel = -40;
+        public double maxProfileAccel = 180;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = 2* Math.PI; // shared with path
-        public double maxAngAccel = 2* Math.PI;
+        public double maxAngVel = 4* Math.PI; // shared with path
+        public double maxAngAccel = 4* Math.PI;
 
         // path controller gains
         public double axialGain = 4;
@@ -185,19 +185,19 @@ public final class MecanumDrive {
                     new DualNum<Time>(new double[]{
                             (leftFrontPosVel.position - lastLeftFrontPos),
                             leftFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
+                            }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (leftBackPosVel.position - lastLeftBackPos),
                             leftBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
+                            }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (rightBackPosVel.position - lastRightBackPos),
                             rightBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
+                            }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (rightFrontPosVel.position - lastRightFrontPos),
                             rightFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick)
+                            }).times(PARAMS.inPerTick)
             ));
 
             lastLeftFrontPos = leftFrontPosVel.position;
@@ -454,14 +454,14 @@ public final class MecanumDrive {
     public PoseVelocity2d updatePoseEstimate() {
         PoseVelocity2d vel = localizer.update();
         poseHistory.add(localizer.getPose());
-        
+
         while (poseHistory.size() > 100) {
             poseHistory.removeFirst();
         }
 
         estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-        
-        
+
+
         return vel;
     }