diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
index 92c4f69..c4c33f0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
@@ -40,26 +40,26 @@ public class PedroConstants {
     // Robot encoder direction
     public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
     public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
-    public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double BACK_ENCODER_DIRECTION = Encoder.REVERSE;
 
     /*
         Pedro's parameters
     */
 
     // The weight of the robot in Kilograms
-    public static final double ROBOT_WEIGHT_IN_KG = 8.5;
+    public static final double ROBOT_WEIGHT_IN_KG = 10.5;
 
     // Maximum velocity of the robot going forward
-    public static final double ROBOT_SPEED_FORWARD = 81.34056;
+    public static final double ROBOT_SPEED_FORWARD = 72.0693;
 
     // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 65.43028;
+    public static final double ROBOT_SPEED_LATERAL = 24.1401;
 
     // Rate of deceleration when power is cut-off when the robot is moving forward
-    public static final double FORWARD_ZERO_POWER_ACCEL = -34.62719;
+    public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779;
 
     // Rate of deceleration when power is cut-off when the robot is moving to the right
-    public static final double LATERAL_ZERO_POWER_ACCEL = -78.15554;
+    public static final double LATERAL_ZERO_POWER_ACCEL = -111.8409;
 
     // Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
     public static final double ZERO_POWER_ACCEL_MULT = 4;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
index 1503b84..ef92025 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
@@ -65,9 +65,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
     private double previousIMUOrientation;
     private double deltaRadians;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.0038;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = -0.0033;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-    public static double TURN_TICKS_TO_RADIANS = 0.002995;//8192 * 1.37795 * 2 * Math.PI * 0.5;
+    public static double FORWARD_TICKS_TO_INCHES = 0.004;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
+    public static double STRAFE_TICKS_TO_INCHES = -0.0036;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
+    public static double TURN_TICKS_TO_RADIANS = 0.0043;//8192 * 1.37795 * 2 * Math.PI * 0.5;
 
     public static boolean useIMU = true;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
index 505245d..1fab8ae 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
@@ -52,7 +52,7 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
 
     private PoseUpdater poseUpdater;
 
-    public static double VELOCITY = 30;
+    public static double VELOCITY = 50;
 
     private double previousVelocity;