diff --git a/src/main/deploy/pathplanner/JMove2.path b/src/main/deploy/pathplanner/JMove2.path
index 5bd47dc..8b9f54e 100644
--- a/src/main/deploy/pathplanner/JMove2.path
+++ b/src/main/deploy/pathplanner/JMove2.path
@@ -1 +1 @@
-{"waypoints":[{"anchorPoint":{"x":7.66,"y":0.7},"prevControl":null,"nextControl":{"x":7.465685817447585,"y":2.0602977914816596},"holonomicAngle":90.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":10.6,"y":2.118171324950245},"prevControl":{"x":10.796770013793191,"y":3.8080785022329553},"nextControl":null,"holonomicAngle":90.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
\ No newline at end of file
+{"waypoints":[{"anchorPoint":{"x":7.66,"y":0.7},"prevControl":null,"nextControl":{"x":7.708937737734877,"y":2.3864441401993526},"holonomicAngle":90.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":11.0,"y":2.118171324950245},"prevControl":{"x":11.180129214388481,"y":3.8472372199577447},"nextControl":null,"holonomicAngle":90.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8079e75..95d4ee2 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -496,14 +496,14 @@ public class RobotContainer {
   SequentialCommandGroup extendThenAimTurret() {
     return new SequentialCommandGroup(
       new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), 
-      new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret), 1.0, true) // TODO: optimize time
+      new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 0.5, true) // TODO: optimize time
     );
   }
   
   ParallelDeadlineGroup idleDrumUntilShootingFirstBall() {
     return new ParallelDeadlineGroup(
       extendThenAimTurret(), 
-      new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom)
+      new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(9000), m_robotBoomBoom)
     );
   }
 
@@ -527,7 +527,7 @@ public class RobotContainer {
   // ParallelCommandGroup intakeWithPath2AndTrackTarget = new ParallelCommandGroup(intakeWithPath2, weirdAutoShootingGroup3);
 
   ParallelDeadlineGroup intakeWithPath2AndIdleShooterAndAimTurret = new ParallelDeadlineGroup(
-    intakeWithPath2(4.2),
+    intakeWithPath2(2.8),
     new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom), 
     new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true)
   );
@@ -560,10 +560,11 @@ public class RobotContainer {
   // ! THREE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE)
   SequentialCommandGroup threeBallAuto = new SequentialCommandGroup(
     idleDrumUntilShootingFirstBall(),
-    shoot(1.0), // TODO: optimize time
+    shoot(0.8), // TODO: optimize time
     brakeStorage(0.1),
-    intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget
-    shoot(2.3), // TODO: optimize time
+    intakeWithPathAndTrackTarget,
+    // intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget
+    shoot(0.8), // TODO: optimize time
     brakeStorage(0.1),
     intakeWithPath2AndIdleShooterAndAimTurret,
     shoot(4.0), // TODO: optimize time