diff --git a/RUN-THAT-BACK/src/main.cpp b/RUN-THAT-BACK/src/main.cpp
index e7cacfc..3945827 100644
--- a/RUN-THAT-BACK/src/main.cpp
+++ b/RUN-THAT-BACK/src/main.cpp
@@ -31,7 +31,7 @@ lemlib::Drivetrain drivetrain(&leftMotors, // left motor group
                               10, // 10 inch track width
                               lemlib::Omniwheel::NEW_275, // using new 3.25" omnis
                               450, // drivetrain rpm is 360
-                              2 // chase power is 2. If we had traction wheels, it would have been 8
+                              1 // chase power is 2. If we had traction wheels, it would have been 8
 );
 
 // lateral motion controller
@@ -45,7 +45,7 @@ lemlib::ControllerSettings linearController(10, // proportional gain (kP)
 );
 
 // angular motion controller
-lemlib::ControllerSettings angularController(2, // proportional gain (kP)
+lemlib::ControllerSettings angularController(1.25, // proportional gain (kP)
                                              10, // derivative gain (kD)
                                              1, // small error range, in degrees
                                              100, // small error range timeout, in milliseconds
@@ -120,7 +120,7 @@ ASSET(testingpath_txt);
  *
  * This is an example autonomous routine which demonstrates a lot of the features LemLib has to offer
  */
-void autonomous() {
+void autonomous() { 
     chassis.setPose(9.72, -59.062, 90, false);
     chassis.follow(testingpath_txt, 15, 4000);
     chassis.waitUntilDone();
diff --git a/RUN-THAT-BACK/static/testingpath.txt b/RUN-THAT-BACK/static/testingpath.txt
index 55f1a55..2271f06 100644
--- a/RUN-THAT-BACK/static/testingpath.txt
+++ b/RUN-THAT-BACK/static/testingpath.txt
@@ -1,45 +1,43 @@
 9.72, -59.052, 100
-11.62, -59.678, 100
-13.542, -60.229, 100
-15.485, -60.702, 100
-17.446, -61.094, 100
-19.421, -61.403, 100
-21.408, -61.625, 100
-23.403, -61.76, 100
-25.402, -61.805, 100
-27.401, -61.758, 100
-29.396, -61.619, 100
-31.382, -61.386, 100
-33.354, -61.059, 100
-35.309, -60.637, 100
-37.241, -60.12, 100
-39.145, -59.509, 100
-41.013, -58.794, 99.235
-42.841, -57.985, 96.642
-44.625, -57.082, 93.978
-46.359, -56.086, 91.236
-48.036, -54.998, 88.409
-49.652, -53.819, 85.488
-51.199, -52.552, 82.464
-52.66, -51.188, 79.325
-54.039, -49.739, 76.056
-55.327, -48.21, 72.641
-56.518, -46.605, 69.057
-57.601, -44.923, 65.276
-58.558, -43.168, 61.263
-59.394, -41.352, 56.968
-60.104, -39.483, 52.322
-60.68, -37.569, 47.22
-61.098, -35.613, 41.495
-61.373, -33.633, 34.844
-61.505, -31.639, 26.577
-61.492, -29.639, 14.089
+11.72, -59.061, 100
+13.72, -59.051, 100
+15.72, -59.017, 100
+17.719, -58.959, 100
+19.717, -58.874, 100
+21.713, -58.758, 100
+23.708, -58.61, 100
+25.699, -58.425, 100
+27.686, -58.199, 100
+29.668, -57.93, 100
+31.642, -57.611, 100
+33.607, -57.239, 100
+35.56, -56.806, 100
+37.495, -56.303, 99.521
+39.41, -55.727, 96.935
+41.301, -55.075, 94.279
+43.16, -54.339, 91.546
+44.974, -53.498, 88.728
+46.74, -52.56, 85.819
+48.449, -51.522, 82.807
+50.077, -50.361, 79.681
+51.625, -49.096, 76.428
+53.077, -47.721, 73.03
+54.415, -46.236, 69.467
+55.647, -44.661, 65.71
+56.749, -42.993, 61.725
+57.731, -41.251, 57.464
+58.599, -39.45, 52.861
+59.344, -37.595, 47.816
+59.976, -35.698, 42.173
+60.509, -33.77, 35.646
+60.948, -31.82, 27.618
+61.3, -29.851, 15.963
 61.449, -28.859, 0
 61.449, -28.859, 0
-60.345, -8.89, 0
+64.429, -9.082, 0
 endData
 127
 100
 200
-9.72, -59.052, 37.533, -68.899, 63.113, -50.932, 61.449, -28.859
-#PATH.JERRYIO-DATA {"appVersion":"0.4.0","format":"LemLib v0.4.x (inch, byte-voltage)","gc":{"robotWidth":13.6,"robotHeight":15,"robotIsHolonomic":false,"showRobot":true,"uol":2.54,"pointDensity":2,"controlMagnetDistance":0.7750015500031,"fieldImage":{"displayName":"VRC 2024 - Over Under","signature":"VRC 2024 - Over Under","origin":{"__type":"built-in"}}},"paths":[{"segments":[{"controls":[{"uid":"PisA8JQbWI","x":9.72,"y":-59.052,"lock":false,"visible":true,"heading":90,"__type":"end-point"},{"uid":"VotFhb8yH1","x":37.5330730920197,"y":-68.89854795830226,"lock":false,"visible":true,"__type":"control"},{"uid":"DlV0frkxjS","x":63.11271018879389,"y":-50.93189809271085,"lock":false,"visible":true,"__type":"control"},{"uid":"PbleKPZRgX","x":61.449,"y":-28.859,"lock":false,"visible":true,"heading":0,"__type":"end-point"}],"speedProfiles":[],"uid":"kb5k5M2fZB"}],"pc":{"speedLimit":{"minLimit":{"value":0,"label":"0"},"maxLimit":{"value":127,"label":"127"},"step":1,"from":20,"to":100},"bentRateApplicableRange":{"minLimit":{"value":0,"label":"0"},"maxLimit":{"value":4,"label":"4"},"step":0.01,"from":1.4,"to":1.8},"maxDecelerationRate":127},"name":"Path","uid":"8NSjgK0B38","lock":false,"visible":true}]}
\ No newline at end of file
+9.72, -59.052, 39.563, -59.357, 58.139, -53.267, 61.449, -28.859
+#PATH.JERRYIO-DATA {"appVersion":"0.4.1","format":"LemLib v0.4.x (inch, byte-voltage)","gc":{"robotWidth":13.6,"robotHeight":15,"robotIsHolonomic":false,"showRobot":true,"uol":2.54,"pointDensity":2,"controlMagnetDistance":0.7750015500031,"fieldImage":{"displayName":"VRC 2024 - Over Under","signature":"VRC 2024 - Over Under","origin":{"__type":"built-in"}}},"paths":[{"segments":[{"controls":[{"uid":"PisA8JQbWI","x":9.72,"y":-59.052,"lock":false,"visible":true,"heading":90,"__type":"end-point"},{"uid":"VotFhb8yH1","x":39.563172043010766,"y":-59.35693884408604,"lock":false,"visible":true,"__type":"control"},{"uid":"DlV0frkxjS","x":58.13886088709679,"y":-53.2665490591398,"lock":false,"visible":true,"__type":"control"},{"uid":"PbleKPZRgX","x":61.449,"y":-28.859,"lock":false,"visible":true,"heading":0,"__type":"end-point"}],"speedProfiles":[],"uid":"kb5k5M2fZB"}],"pc":{"speedLimit":{"minLimit":{"value":0,"label":"0"},"maxLimit":{"value":127,"label":"127"},"step":1,"from":20,"to":100},"bentRateApplicableRange":{"minLimit":{"value":0,"label":"0"},"maxLimit":{"value":4,"label":"4"},"step":0.01,"from":1.4,"to":1.8},"maxDecelerationRate":127},"name":"Path","uid":"8NSjgK0B38","lock":false,"visible":true}]}
\ No newline at end of file