diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
index 558904d..ddb0e53 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
@@ -48,7 +48,7 @@ public class DriveEncoderLocalizer extends Localizer {
     private final Encoder rightRear;
     private double totalHeading;
     public static double FORWARD_TICKS_TO_INCHES = -0.0058;
-    public static double STRAFE_TICKS_TO_INCHES = -0.0326;
+    public static double STRAFE_TICKS_TO_INCHES = -0.0054;
     public static double TURN_TICKS_TO_RADIANS = -0.0009;
     public static double ROBOT_WIDTH = 1;
     public static double ROBOT_LENGTH = 1;
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 4830913..0fd1d38 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
@@ -202,9 +202,9 @@ public class FollowerConstants {
 
     // Secondary drive PIDF coefficients
     public static CustomFilteredPIDFCoefficients secondaryDrivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
-            0.02,
+            0.00315,
             0,
-            0.000005,
+            0.0001,
             0.6,
             0);