diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
index 08dc365..a236b59 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
@@ -114,8 +114,6 @@ public class FollowerConstants {
     public static double mass = 10.65942;
 
     // Centripetal force to power scaling
-    // todo: there are currently issues with the centripetal force correction, so just don't use it for now
-    // i will fix these in another commit soon
     public static double centripetalScaling = 0.0005;
 
     // Acceleration of the drivetrain when power is cut in inches/second^2 (should be negative)
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/util/DashboardPoseTracker.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/util/DashboardPoseTracker.java
index cab5daa..3c54156 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/util/DashboardPoseTracker.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/util/DashboardPoseTracker.java
@@ -18,7 +18,7 @@ public class DashboardPoseTracker {
     private double[] yPositions;
     private PoseUpdater poseUpdater;
     private long lastUpdateTime;
-    private final int TRACKING_LENGTH = 2000;
+    private final int TRACKING_LENGTH = 1500;
     private final long UPDATE_TIME = 50;
     private final int TRACKING_SIZE = TRACKING_LENGTH / (int) UPDATE_TIME;