diff --git a/src/main/deploy/pathplanner/autos/Left2CoralSpeedy.auto b/src/main/deploy/pathplanner/autos/Left2CoralSpeedy.auto
new file mode 100644
index 0000000..ff1ca97
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left2CoralSpeedy.auto
@@ -0,0 +1,125 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LeftCoralPre1"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "RAISE_ELEVATOR_L4"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "LeftCoral1"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "OUTTAKE_CORAL"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "LeftCoralIntakePre2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "LOWER_ELEVATOR"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LeftCoralIntake2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "GET_CORAL"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LeftCoralPre2"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "RAISE_ELEVATOR_L4"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "LeftCoral2"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "OUTTAKE_CORAL"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "LeftCoral2Reverse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "LOWER_ELEVATOR"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "LeftAutons",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/LeftCoral2Reverse.path b/src/main/deploy/pathplanner/paths/LeftCoral2Reverse.path
index 7228c0a..29bb4f6 100644
--- a/src/main/deploy/pathplanner/paths/LeftCoral2Reverse.path
+++ b/src/main/deploy/pathplanner/paths/LeftCoral2Reverse.path
@@ -8,24 +8,24 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.4038829108808333,
-        "y": 5.5789732859277015
+        "x": 2.8895057362806864,
+        "y": 5.708562332187294
       },
       "isLocked": false,
       "linkedName": "Left Coral Post 2"
     },
     {
       "anchor": {
-        "x": 3.408333333333333,
-        "y": 5.569949494949494
+        "x": 1.2535353535353533,
+        "y": 7.003093434343434
       },
       "prevControl": {
-        "x": 3.6808130069872926,
-        "y": 5.096884123936249
+        "x": 1.820257574166762,
+        "y": 6.543201602037102
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "Left Coral Pre 2"
+      "linkedName": "Left Source"
     }
   ],
   "rotationTargets": [],
@@ -42,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -59.99999999999999
+    "rotation": -52.2243156940453
   },
   "reversed": false,
   "folder": "LeftPaths",
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 50cf43c..7f1913f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -214,7 +214,7 @@ public static final class ElevatorConstants {
     public static final double kElevatorSensorMaxTrustDistance = 10;
 
     public static final double kL1Height = 0.2;
-    public static final double kL2Height = 3;
+    public static final double kL2Height = 3.25;
     public static final double kL3Height = 10.5;
     public static final double kL4Height = 20;
 
diff --git a/src/main/java/frc/robot/commands/scoring/coral/CoralL3Command.java b/src/main/java/frc/robot/commands/scoring/coral/CoralL3Command.java
index 42b6215..4479726 100644
--- a/src/main/java/frc/robot/commands/scoring/coral/CoralL3Command.java
+++ b/src/main/java/frc/robot/commands/scoring/coral/CoralL3Command.java
@@ -15,7 +15,7 @@ public CoralL3Command(EndEffectorSubsystem endEffector, ElevatorSubsystem elevat
             new ParallelCommandGroup(
                 new PivotCommand(endEffector, 0.36),
                 new ElevatorNoPivotCommand(ElevatorConstants.kL3Height, elevator)),
-            new PivotCommand(endEffector, 1.035)
+            new PivotCommand(endEffector, 0.9)
         );
     }
     
diff --git a/src/main/java/frc/robot/utils/FindNearest.java b/src/main/java/frc/robot/utils/FindNearest.java
index d5f5387..3c5e23e 100644
--- a/src/main/java/frc/robot/utils/FindNearest.java
+++ b/src/main/java/frc/robot/utils/FindNearest.java
@@ -14,18 +14,18 @@ public class FindNearest {
 
   // Scoring locations for the blue alliance
   public static final Pose2d[] blueScoringLocations = {
-      new Pose2d(new Translation2d(5.759, 3.952), Rotation2d.fromDegrees(180)),
-      new Pose2d(new Translation2d(5.36, 3.03), Rotation2d.fromDegrees(120)),
-      new Pose2d(new Translation2d(5.042, 2.88), Rotation2d.fromDegrees(120)),
-      new Pose2d(new Translation2d(4.035, 2.794), Rotation2d.fromDegrees(60)),
-      new Pose2d(new Translation2d(3.80, 2.95), Rotation2d.fromDegrees(60)),
-      new Pose2d(new Translation2d(3.222, 3.738), Rotation2d.fromDegrees(0)),
-      new Pose2d(new Translation2d(3.218, 4.015), Rotation2d.fromDegrees(0)),
-      new Pose2d(new Translation2d(3.638, 5.004), Rotation2d.fromDegrees(-60)),
-      new Pose2d(new Translation2d(3.94, 5.14), Rotation2d.fromDegrees(-60)),
-      new Pose2d(new Translation2d(4.95, 5.227), Rotation2d.fromDegrees(-120)),
-      new Pose2d(new Translation2d(5.247, 4.993), Rotation2d.fromDegrees(-120)),
-      new Pose2d(new Translation2d(5.759, 4.269), Rotation2d.fromDegrees(180))
+      new Pose2d(new Translation2d(5.778, 3.861), Rotation2d.fromDegrees(180)),
+      new Pose2d(new Translation2d(5.276, 2.993), Rotation2d.fromDegrees(120)),
+      new Pose2d(new Translation2d(4.99, 2.828), Rotation2d.fromDegrees(120)),
+      new Pose2d(new Translation2d(3.988, 2.828), Rotation2d.fromDegrees(60)),
+      new Pose2d(new Translation2d(3.702, 2.993), Rotation2d.fromDegrees(60)),
+      new Pose2d(new Translation2d(3.200, 3.861), Rotation2d.fromDegrees(0)),
+      new Pose2d(new Translation2d(3.200, 4.191), Rotation2d.fromDegrees(0)),
+      new Pose2d(new Translation2d(3.702, 5.059), Rotation2d.fromDegrees(-60)),
+      new Pose2d(new Translation2d(3.988, 5.224), Rotation2d.fromDegrees(-60)),
+      new Pose2d(new Translation2d(4.99, 5.224), Rotation2d.fromDegrees(-120)),
+      new Pose2d(new Translation2d(5.276, 5.059), Rotation2d.fromDegrees(-120)),
+      new Pose2d(new Translation2d(5.778, 4.191), Rotation2d.fromDegrees(180))
   };
 
   // Scoring locations for the red alliance