diff --git a/choreo.chor b/choreo.chor
index 0e793b9..ba65a13 100644
--- a/choreo.chor
+++ b/choreo.chor
@@ -2294,7 +2294,7 @@
             "usesDefaultFieldObstacles": true,
             "circleObstacles": [],
             "eventMarkers": [],
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+            "isTrajectoryStale": true
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         "s3 to n3": {
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             "circleObstacles": [],
             "eventMarkers": [],
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+            "isTrajectoryStale": true
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         "n3 to n2": {
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             "circleObstacles": [],
             "eventMarkers": [],
-            "isTrajectoryStale": false
+            "isTrajectoryStale": true
         },
         "shoot1 to n1": {
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diff --git a/src/main/deploy/choreo/s1 to n1 to f1.1.traj b/src/main/deploy/choreo/s1 to n1 to f1.1.traj
new file mode 100644
index 0000000..a046530
--- /dev/null
+++ b/src/main/deploy/choreo/s1 to n1 to f1.1.traj	
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+      "heading": 7.660156345624939e-17,
+      "angularVelocity": 1.0254689514738244e-15,
+      "velocityX": 4.3055204110018055,
+      "velocityY": 0.2870329923637522,
+      "timestamp": 1.8513165140982935
+    },
+    {
+      "x": 7.940408749047268,
+      "y": 7.38159440363063,
+      "heading": 5.704626230613074e-17,
+      "angularVelocity": -7.188272898996364e-16,
+      "velocityX": 4.3055204110018055,
+      "velocityY": 0.2870329923637522,
+      "timestamp": 1.8785209617595533
+    },
+    {
+      "x": 8.057538053722853,
+      "y": 7.3894029776484444,
+      "heading": 4.040721833497174e-17,
+      "angularVelocity": -6.116294810979149e-16,
+      "velocityX": 4.3055204110018055,
+      "velocityY": 0.2870329923637522,
+      "timestamp": 1.9057254094208131
+    },
+    {
+      "x": 8.174667358398438,
+      "y": 7.39721155166626,
+      "heading": 1.7645472792716848e-24,
+      "angularVelocity": -1.4853164934283371e-15,
+      "velocityX": 4.3055204110018055,
+      "velocityY": 0.2870329923637522,
+      "timestamp": 1.932929857082073
+    }
+  ],
+  "eventMarkers": []
+}
\ No newline at end of file
diff --git a/src/main/java/team3647/frc2024/constants/AutoConstants.java b/src/main/java/team3647/frc2024/constants/AutoConstants.java
index bcf08a7..88c0a70 100644
--- a/src/main/java/team3647/frc2024/constants/AutoConstants.java
+++ b/src/main/java/team3647/frc2024/constants/AutoConstants.java
@@ -53,7 +53,7 @@ public class AutoConstants {
     public static final PIDController kRotController =
             new PIDController(xRotControllerP, xRotControllerI, xRotControllerD);
 
-    public static final double kDrivetrainXShootingThreshold = 4.85;
+    public static final double kDrivetrainXShootingThreshold = 5;
 
     static {
         kRotController.enableContinuousInput(-Math.PI, Math.PI);
diff --git a/src/main/java/team3647/frc2024/constants/PivotConstants.java b/src/main/java/team3647/frc2024/constants/PivotConstants.java
index 2f236a6..f67896e 100644
--- a/src/main/java/team3647/frc2024/constants/PivotConstants.java
+++ b/src/main/java/team3647/frc2024/constants/PivotConstants.java
@@ -37,7 +37,7 @@ public class PivotConstants {
     public static final double kMaxDegree = 76.0;
     public static final double kMaxDegreeUnderStage = 30;
 
-    private static final double masterKP = 3;
+    private static final double masterKP = 23;
     private static final double masterKI = 0;
     private static final double masterKD = 0;
 
@@ -90,20 +90,26 @@ public class PivotConstants {
         // kMasterSpeakerMap.put(20.0, 26.5);
         kMasterSpeakerMap.put(0.0, 60.0);
         kMasterSpeakerMap.put(1.5, 55.0);
+        kMasterSpeakerMap.put(1.75, 52.0);
         kMasterSpeakerMap.put(2.0, 48.0);
-        kMasterSpeakerMap.put(2.5, 42.8);
-        kMasterSpeakerMap.put(3.0, 37.8);
-        kMasterSpeakerMap.put(3.5, 34.3);
-        kMasterSpeakerMap.put(4.0, 31.8);
-        kMasterSpeakerMap.put(4.5, 30.5);
-        kMasterSpeakerMap.put(5.0, 27.8);
-        kMasterSpeakerMap.put(5.5, 26.0);
-        kMasterSpeakerMap.put(6.0, 24.2);
-        kMasterSpeakerMap.put(6.5, 24.0);
-        kMasterSpeakerMap.put(7.0, 23.1);
-        kMasterSpeakerMap.put(7.5, 22.1);
-        kMasterSpeakerMap.put(8.0, 21.5);
-        kMasterSpeakerMap.put(20.0, 21.5);
+        kMasterSpeakerMap.put(2.25, 44.0);
+        kMasterSpeakerMap.put(2.5, 41.0);
+        kMasterSpeakerMap.put(2.75, 39.0);
+        kMasterSpeakerMap.put(3.0, 36.0);
+        kMasterSpeakerMap.put(3.25, 34.8);
+        kMasterSpeakerMap.put(3.5, 33.0);
+        kMasterSpeakerMap.put(3.75, 31.5);
+        kMasterSpeakerMap.put(4.0, 30.0);
+        kMasterSpeakerMap.put(4.25, 28.3);
+        kMasterSpeakerMap.put(4.5, 27.5);
+        kMasterSpeakerMap.put(5.0, 26.0);
+        kMasterSpeakerMap.put(5.5, 24.5);
+        kMasterSpeakerMap.put(6.0, 22.8);
+        kMasterSpeakerMap.put(6.5, 22.1);
+        kMasterSpeakerMap.put(7.0, 21.6);
+        kMasterSpeakerMap.put(7.5, 21.3);
+        kMasterSpeakerMap.put(8.0, 21.3);
+        kMasterSpeakerMap.put(20.0, 21.3);
         kMasterAmpMap.put(0.0, 60.0);
         kMasterAmpMap.put(100.0, 60.0);
         Slot0Configs kMasterSlot0 = new Slot0Configs();
@@ -118,7 +124,7 @@ public class PivotConstants {
         kMasterSlot0.kP = masterKP;
         kMasterSlot0.kI = masterKI;
         kMasterSlot0.kD = masterKD;
-        kMasterSlot0.kS = 0.21;
+        kMasterSlot0.kS = 0.5;
         kMasterSlot0.kA = 0;
         kMasterSlot0.kV = 0;
         kMasterCurrent.StatorCurrentLimitEnable = true;
diff --git a/src/main/java/team3647/frc2024/constants/ShooterConstants.java b/src/main/java/team3647/frc2024/constants/ShooterConstants.java
index 1a1bdd0..bd7a625 100644
--- a/src/main/java/team3647/frc2024/constants/ShooterConstants.java
+++ b/src/main/java/team3647/frc2024/constants/ShooterConstants.java
@@ -27,13 +27,13 @@ public class ShooterConstants {
             kWheelRotationMeters / GlobalConstants.kFalconTicksPerRotation * kGearboxReduction;
 
     // tune ff
-    public static final double kS = 9.8785; // 17.729; // 8.7167;
-    public static final double kV = 0.40849; // 0.28947; // 0.24226;
-    public static final double kA = 1.3338; // 0.88966; // 0.60231;
+    public static final double kS = 13.132; // 17.729; // 8.7167;
+    public static final double kV = 0.23336; // 0.28947; // 0.24226;
+    public static final double kA = 1.2516; // 0.88966; // 0.60231;
 
     public static final SimpleMotorFeedforward ff = new SimpleMotorFeedforward(kS, kV, kA);
 
-    public static final double masterKP = 1.0657;
+    public static final double masterKP = 17.378;
     public static final double masterKI = 0;
     public static final double masterKD = 0;