diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 3e5f363..f8995ab 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.83,
+  "robotLength": 0.87,
   "holonomicMode": true,
   "pathFolders": [
     "Milieu"
@@ -13,23 +13,23 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
+  "robotMass": 51.673,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
-  "driveGearing": 5.143,
-  "maxDriveSpeed": 5.45,
+  "driveWheelRadius": 0.051,
+  "driveGearing": 6.122448979591837,
+  "maxDriveSpeed": 9.82,
   "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 60.0,
-  "wheelCOF": 1.2,
-  "flModuleX": 0.273,
-  "flModuleY": 0.273,
-  "frModuleX": 0.273,
-  "frModuleY": -0.273,
-  "blModuleX": -0.273,
-  "blModuleY": 0.273,
-  "brModuleX": -0.273,
-  "brModuleY": -0.273,
+  "driveCurrentLimit": 120.0,
+  "wheelCOF": 1.1,
+  "flModuleX": 0.289,
+  "flModuleY": 0.27,
+  "frModuleX": 0.289,
+  "frModuleY": -0.27,
+  "blModuleX": -0.289,
+  "blModuleY": 0.27,
+  "brModuleX": -0.289,
+  "brModuleY": -0.27,
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
   "robotFeatures": []