diff --git a/src/main/deploy/pathplanner/paths/2meters.path b/src/main/deploy/pathplanner/paths/2meters.path
index 7c0cccc..2ded22d 100644
--- a/src/main/deploy/pathplanner/paths/2meters.path
+++ b/src/main/deploy/pathplanner/paths/2meters.path
@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 180.0,
+    "rotation": 0.0,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 5360d9e..9621347 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -58,9 +58,8 @@ public void disabledExit() {
   @Override
   public void autonomousInit() {
 
-    // gyro.setAutonStartingPose180(180); // TODO Added by Scoy, value already set
-    gyro.setAutonStartingPose(180); // TODO Added by Scoy
-
+    // gyro.setAutonStartingPose180(180);
+    // gyro.setAutonStartingPose(-180); // TODO Seems to impact Teleop and auton
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {