diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib
index b6050bf..2114117 160000
--- a/TeamCode/src/main/java/ftclib
+++ b/TeamCode/src/main/java/ftclib
@@ -1 +1 @@
-Subproject commit b6050bf6779b8b7e2bad2269b778cb881014879c
+Subproject commit 2114117db4ca02599de16a981f207ca67f1cc501
diff --git a/TeamCode/src/main/java/teamcode/FtcTest.java b/TeamCode/src/main/java/teamcode/FtcTest.java
index 8728e0d..730c8a1 100644
--- a/TeamCode/src/main/java/teamcode/FtcTest.java
+++ b/TeamCode/src/main/java/teamcode/FtcTest.java
@@ -320,7 +320,9 @@ public class FtcTest extends FtcTeleOp
                     // Set the current position as the absolute field origin so the path can be an absolute path.
                     TrcPose2D startPose = new TrcPose2D(0.0, 0.0, 0.0);
                     robot.robotDrive.driveBase.setFieldPosition(startPose);
-                    robot.robotDrive.purePursuitDrive.start(startPose, false, new TrcPose2D(0.0, 48.0, 90.0));
+                    robot.robotDrive.purePursuitDrive.start(
+                        false, robot.robotInfo.profiledMaxVelocity, robot.robotInfo.profiledMaxAcceleration,
+                        robot.robotInfo.profiledMaxDeceleration, new TrcPose2D(0.0, 48.0, 90.0));
                 }
                 break;
         }
diff --git a/TeamCode/src/main/java/teamcode/subsystems/RobotBase.java b/TeamCode/src/main/java/teamcode/subsystems/RobotBase.java
index 3e47780..3402493 100644
--- a/TeamCode/src/main/java/teamcode/subsystems/RobotBase.java
+++ b/TeamCode/src/main/java/teamcode/subsystems/RobotBase.java
@@ -101,8 +101,8 @@ public class RobotBase
             profiledMaxAcceleration = robotMaxAcceleration;
             profiledMaxTurnRate = robotMaxTurnRate;
             // DriveBase PID Parameters
-            drivePidTolerance = 1.0;
-            turnPidTolerance = 1.0;
+            drivePidTolerance = 2.0;
+            turnPidTolerance = 2.0;
             yDrivePidCoeffs = new TrcPidController.PidCoefficients(0.06, 0.0, 0.002, 0.0, 0.0);
             yDrivePidPowerLimit = 1.0;
             yDriveMaxPidRampRate = null;
diff --git a/TeamCode/src/main/java/trclib b/TeamCode/src/main/java/trclib
index dbb9ebd..080603b 160000
--- a/TeamCode/src/main/java/trclib
+++ b/TeamCode/src/main/java/trclib
@@ -1 +1 @@
-Subproject commit dbb9ebd70884aeaaea16cafc1e87564fb3eea26b
+Subproject commit 080603b0b33075478ef1af51ad7976a9d2d21716