diff --git a/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path b/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path
index c9d4a54..133bc30 100644
--- a/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path
+++ b/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.562295081967213,
-        "y": 5.361629098360655
+        "x": 5.885963114754098,
+        "y": 5.889088114754099
       },
       "prevControl": {
-        "x": 5.865504098360656,
-        "y": 5.310881147540982
+        "x": 6.189172131147541,
+        "y": 5.838340163934426
       },
       "nextControl": null,
       "isLocked": false,
@@ -31,30 +31,7 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "StowToL4Arm",
-      "waypointRelativePos": 0.0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "StowToL4Arm"
-        }
-      }
-    },
-    {
-      "name": "StowToL4Elevator",
-      "waypointRelativePos": 1.0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "StowToL4Elevator"
-        }
-      }
-    }
-  ],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 4.0,
diff --git a/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path b/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path
index ff17535..c6579bc 100644
--- a/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path
+++ b/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.562295081967213,
-        "y": 2.83837090163934
+        "x": 5.933913934426228,
+        "y": 1.993084016393442
       },
       "prevControl": {
-        "x": 5.865504098360656,
-        "y": 2.88911885245902
+        "x": 6.237122950819671,
+        "y": 2.043831967213122
       },
       "nextControl": null,
       "isLocked": false,
@@ -31,30 +31,7 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "StowToL4Arm",
-      "waypointRelativePos": 0.0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "StowToL4Arm"
-        }
-      }
-    },
-    {
-      "name": "StowToL4Elevator",
-      "waypointRelativePos": 1.0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "StowToL4Elevator"
-        }
-      }
-    }
-  ],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 4.0,
@@ -65,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": -60.0684881594923
+    "rotation": -60.068488159492304
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0
+    "rotation": 0.0
   },
   "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java b/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java
index e5e7ffc..811e8fd 100644
--- a/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java
+++ b/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java
@@ -73,18 +73,18 @@ public static enum ReefPosition {
         //Left level overrides
     private static LoggedTunableNumber offsetLL1 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L1", 0.1804);
     private static LoggedTunableNumber offsetLL2 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L2", 0.18);
-    private static LoggedTunableNumber offsetLL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L3", 0.19);
-    private static LoggedTunableNumber offsetLL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L4", 0.22);
+    private static LoggedTunableNumber offsetLL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L3", 0.20);
+    private static LoggedTunableNumber offsetLL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L4", 0.25);
         //Right level overrides
     private static LoggedTunableNumber offsetRL1 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L1", 0.1238);
     private static LoggedTunableNumber offsetRL2 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L2", 0.15);
-    private static LoggedTunableNumber offsetRL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L3", 0.16);
-    private static LoggedTunableNumber offsetRL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L4", 0.09);
+    private static LoggedTunableNumber offsetRL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L3", 0.15);
+    private static LoggedTunableNumber offsetRL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L4", 0.11);
         //Back level overrides (Overrides on how far back each level will be scored)
     private static LoggedTunableNumber offsetBFinalL1 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L1", 0.638);
     private static LoggedTunableNumber offsetBFinalL2 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L2", 0.7);
     private static LoggedTunableNumber offsetBFinalL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L3", 0.71);
-    private static LoggedTunableNumber offsetBFinalL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L4", 0.685);
+    private static LoggedTunableNumber offsetBFinalL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L4",0.72);
 
     /**
      * Finds the closest reef april tag (from the list of this alliance's apriltags) to a position.
diff --git a/src/main/java/frc/robot/commands/StowToL4.java b/src/main/java/frc/robot/commands/StowToL4.java
index a311382..9814d0e 100644
--- a/src/main/java/frc/robot/commands/StowToL4.java
+++ b/src/main/java/frc/robot/commands/StowToL4.java
@@ -83,7 +83,7 @@ public Angle angle() {
     private enum ElevatorPositions {
         Starting(new LoggedTunableNumber("Positions/StowToL4Command/elevator/StartingInches", 0)),
         SafeToSwingShoulder(new LoggedTunableNumber("Positions/StowToL4Command/elevator/SafeToSwingShoulderInches", 5.0)),
-        Final(new LoggedTunableNumber("Positions/StowToL4Command/elevator/FinalInches", 18));
+        Final(new LoggedTunableNumber("Positions/StowToL4Command/elevator/FinalInches", 20));
 
         DoubleSupplier position;
         MutDistance distance;
diff --git a/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java b/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java
index ef2fc8a..2e6a296 100644
--- a/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java
+++ b/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java
@@ -48,7 +48,7 @@ public ShoulderConstants() {
         this.XPosition = Meters.of(0.07);
         this.YPosition = Inches.of(0);
         this.ZPosition = Meters.of(0.377);
-        this.CanCoderOffset = Degrees.of(124.2);
+        this.CanCoderOffset = Degrees.of(-51.24);
         
         this.mechanismSimCallback = (d) -> {
             RobotState.instance().setShoulderSource(d);