diff --git a/src/main/deploy/pathplanner/paths/C_Load.path b/src/main/deploy/pathplanner/paths/C_Load.path
index 524a817..1238c4a 100644
--- a/src/main/deploy/pathplanner/paths/C_Load.path
+++ b/src/main/deploy/pathplanner/paths/C_Load.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.198,
-        "y": 2.31875
+        "x": 3.5483606557377048,
+        "y": 2.4725922131147535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.6539942501426845,
-        "y": 2.131788691526274
+        "x": 2.0043549058803896,
+        "y": 2.2856309046410273
       },
       "isLocked": false,
       "linkedName": "C"
diff --git a/src/main/deploy/pathplanner/paths/D_Load.path b/src/main/deploy/pathplanner/paths/D_Load.path
index 10743ef..9078408 100644
--- a/src/main/deploy/pathplanner/paths/D_Load.path
+++ b/src/main/deploy/pathplanner/paths/D_Load.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.4417500000000003,
-        "y": 2.386999999999999
+        "x": 3.6202868852459016,
+        "y": 2.388678278688524
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.672421441666891,
-        "y": 2.044507448918177
+        "x": 1.8509583269127923,
+        "y": 2.046185727606702
       },
       "isLocked": false,
       "linkedName": "D"
diff --git a/src/main/deploy/pathplanner/paths/F_Load.path b/src/main/deploy/pathplanner/paths/F_Load.path
index 47fe2f0..3463d6c 100644
--- a/src/main/deploy/pathplanner/paths/F_Load.path
+++ b/src/main/deploy/pathplanner/paths/F_Load.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.46975,
-        "y": 2.4065
+        "x": 5.502356557377048,
+        "y": 2.520543032786885
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.748399396090979,
-        "y": 2.23134259352967
+        "x": 4.781005953468027,
+        "y": 2.3453856263165553
       },
       "isLocked": false,
       "linkedName": "F"
diff --git a/src/main/deploy/pathplanner/paths/Load_C.path b/src/main/deploy/pathplanner/paths/Load_C.path
index cb15959..741e189 100644
--- a/src/main/deploy/pathplanner/paths/Load_C.path
+++ b/src/main/deploy/pathplanner/paths/Load_C.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 3.198,
-        "y": 2.31875
+        "x": 3.5483606557377048,
+        "y": 2.4725922131147535
       },
       "prevControl": {
-        "x": 1.7652329384221814,
-        "y": 2.108558553298966
+        "x": 2.1155935941598862,
+        "y": 2.2624007664137196
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Load_D.path b/src/main/deploy/pathplanner/paths/Load_D.path
index 507902c..87a0d55 100644
--- a/src/main/deploy/pathplanner/paths/Load_D.path
+++ b/src/main/deploy/pathplanner/paths/Load_D.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 3.4417500000000003,
-        "y": 2.386999999999999
+        "x": 3.6202868852459016,
+        "y": 2.388678278688524
       },
       "prevControl": {
-        "x": 1.814116527514173,
-        "y": 2.1421889936851035
+        "x": 1.9926534127600743,
+        "y": 2.1438672723736283
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Start_F.path b/src/main/deploy/pathplanner/paths/Start_F.path
index 8da6ec6..966dade 100644
--- a/src/main/deploy/pathplanner/paths/Start_F.path
+++ b/src/main/deploy/pathplanner/paths/Start_F.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.46975,
-        "y": 2.4065
+        "x": 5.502356557377048,
+        "y": 2.520543032786885
       },
       "prevControl": {
-        "x": 6.297490642155415,
-        "y": 2.1881467641788572
+        "x": 6.330097199532463,
+        "y": 2.3021897969657426
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/algaeflywheel/AlgaeRoller.java b/src/main/java/frc/robot/algaeflywheel/AlgaeRoller.java
index 16ce016..575b351 100644
--- a/src/main/java/frc/robot/algaeflywheel/AlgaeRoller.java
+++ b/src/main/java/frc/robot/algaeflywheel/AlgaeRoller.java
@@ -159,7 +159,7 @@ public PrimeShootCommand() {
         @Override
         public void initialize() {
             roller.setIndexerVoltage(-10);
-            roller.setFlywheelVoltage(10.5);
+            roller.setFlywheelVoltage(9.0);
         }
     }
 
@@ -172,8 +172,8 @@ public FarShootCommand() {
 
         @Override
         public void initialize() {
-            roller.setIndexerVoltage(10.5);
-            roller.setFlywheelVoltage(10.5);
+            roller.setIndexerVoltage(9.0);
+            roller.setFlywheelVoltage(9.0);
         }
     }
 
diff --git a/src/main/java/frc/robot/algaepivot/AlgaeSubsystem.java b/src/main/java/frc/robot/algaepivot/AlgaeSubsystem.java
index 4e50d1a..9cffaeb 100644
--- a/src/main/java/frc/robot/algaepivot/AlgaeSubsystem.java
+++ b/src/main/java/frc/robot/algaepivot/AlgaeSubsystem.java
@@ -53,7 +53,7 @@ public enum State {
         kFloorIntake(Rotation2d.fromRotations(0.05)),
         kProcessor(Rotation2d.fromRotations(0.14306640625)),
         kReefIntake(Rotation2d.fromRotations(0.11938476562499999)),
-        kScore(Rotation2d.fromRotations(0.22)),
+        kScore(Rotation2d.fromRotations(0.27578125)),
         kStow(Rotation2d.fromRotations(0.27578125)),
         kClimb(Rotation2d.fromRotations(0.368896484375)),
         kTuck(Settings.kMaxPos);
diff --git a/src/main/java/frc/robot/vision/LineupMaster.java b/src/main/java/frc/robot/vision/LineupMaster.java
index 4be1c5e..ff0996d 100644
--- a/src/main/java/frc/robot/vision/LineupMaster.java
+++ b/src/main/java/frc/robot/vision/LineupMaster.java
@@ -81,6 +81,7 @@ public Command directDriveToPose(Supplier<Pose2d> targetPose, Supplier<Boolean>
     }
 
     public Command directDriveToNearestLeftBranch() {
+        System.out.println("LEFT BRANCH CALLED");
         ReefFace nearestReefFace = getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose());
         return directDriveToPose(() -> nearestReefFace.leftBranch, () -> true);
         // return new SelectCommand<>(leftBranchAlignmentCommands, () -> getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose()));
@@ -101,7 +102,7 @@ public Command directDriveToNearestRightBranch() {
         // Supplier<ReefFace> nearestReefFace = getClosestReefFace(()->PoseEstimatorSubsystem.getInstance().getCurrentPose());
         // return directDriveToPose(() -> nearestReefFace.get().rightBranch, false);
         ReefFace nearestReefFace = getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose());
-        return directDriveToPose(() -> nearestReefFace.rightBranch, () -> true);
+        return directDriveToPose(() -> nearestReefFace.rightBranch, () -> false);
         // try {
         // return new SelectCommand<>(rightBranchAlignmentCommands, () -> getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose()));
         // } catch(Exception ex) {