diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index 4912359..d3997ca 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -31,7 +31,7 @@
   int i = 0;
   for (const auto &trajectory : trajectories_) {
     LOG(INFO, "trajectory length for edge node %d: %f\n", i,
-        trajectory.path().length());
+        trajectory.trajectory.path().length());
     ++i;
   }
 }
@@ -330,7 +330,8 @@
         LOG(INFO, "Switching from node %d to %d along edge %d\n",
             static_cast<int>(current_node_), static_cast<int>(next_edge.end),
             static_cast<int>(min_edge));
-        follower_.SwitchTrajectory(&trajectories_[min_edge]);
+        vmax_ = trajectories_[min_edge].vmax;
+        follower_.SwitchTrajectory(&trajectories_[min_edge].trajectory);
         current_node_ = next_edge.end;
       }
     }
@@ -340,7 +341,7 @@
       close_enough_for_full_power_
           ? kOperatingVoltage()
           : (state_ == State::GOTO_PATH ? kGotoPathVMax() : kPathlessVMax());
-  follower_.Update(arm_ekf_.X_hat(), disable, kDt(), kVMax(),
+  follower_.Update(arm_ekf_.X_hat(), disable, kDt(), vmax_,
                    max_operating_voltage);
   LOG(INFO, "Max voltage: %f\n", max_operating_voltage);
   status->goal_theta0 = follower_.theta(0);
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 840ce53..d86b95b 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -5,6 +5,7 @@
 #include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/arm/dynamics.h"
 #include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "y2018/control_loops/superstructure/arm/generated_graph.h"
 #include "y2018/control_loops/superstructure/arm/graph.h"
 #include "y2018/control_loops/superstructure/arm/trajectory.h"
 #include "y2018/control_loops/superstructure/superstructure.q.h"
@@ -23,15 +24,15 @@
 
   // The operating voltage.
   static constexpr double kOperatingVoltage() {
-    return kGrannyMode() ? 4.0 : 12.0;
+    return kGrannyMode() ? 5.0 : 12.0;
   }
   static constexpr double kDt() { return 0.00505; }
-  static constexpr double kAlpha0Max() { return kGrannyMode() ? 10.0 : 10.0; }
-  static constexpr double kAlpha1Max() { return kGrannyMode() ? 10.0 : 10.0; }
+  static constexpr double kAlpha0Max() { return kGrannyMode() ? 5.0 : 15.0; }
+  static constexpr double kAlpha1Max() { return kGrannyMode() ? 5.0 : 15.0; }
 
   static constexpr double kVMax() { return kGrannyMode() ? 5.0 : 11.5; }
   static constexpr double kPathlessVMax() { return 5.0; }
-  static constexpr double kGotoPathVMax() { return 12.0; }
+  static constexpr double kGotoPathVMax() { return 6.0; }
 
   void Iterate(const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
                const control_loops::ArmPosition *position,
@@ -96,7 +97,9 @@
 
   const ::Eigen::Matrix<double, 2, 2> alpha_unitizer_;
 
-  ::std::vector<Trajectory> trajectories_;
+  double vmax_ = kVMax();
+
+  ::std::vector<TrajectoryAndParams> trajectories_;
   SearchGraph search_graph_;
 
   bool close_enough_for_full_power_ = false;