diff --git a/y2023/autonomous/autonomous_actor.cc b/y2023/autonomous/autonomous_actor.cc
index c3ba65b..26197e3 100644
--- a/y2023/autonomous/autonomous_actor.cc
+++ b/y2023/autonomous/autonomous_actor.cc
@@ -328,14 +328,12 @@
 
   MidCubeScore();
 
-  if (!splines[3].WaitForSplineDistanceRemaining(0.05)) return;
+  if (!splines[3].WaitForSplineDistanceRemaining(0.07)) return;
   AOS_LOG(
       INFO, "Got back from second cube at %lf s\n",
       aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
   if (!WaitForArmGoal(0.05)) return;
-
-  if (!splines[3].WaitForSplineDistanceRemaining(0.05)) return;
   Spit();
 
   if (!splines[3].WaitForSplineDistanceRemaining(0.02)) return;
@@ -349,6 +347,8 @@
   const ProfileParametersT kTurn = MakeProfileParameters(3.0, 4.5);
   StartDrive(0.0, 0.0, kDrive, kTurn);
 
+  std::this_thread::sleep_for(chrono::milliseconds(100));
+
   {
     double side_scalar = (alliance_ == aos::Alliance::kRed) ? 1.0 : -1.0;
     StartDrive(6.33 - std::abs(X()), 0.0, kDrive, kTurn);
@@ -358,7 +358,7 @@
         INFO, "Done backing up %lf s\n",
         aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
-    const ProfileParametersT kInPlaceTurn = MakeProfileParameters(2.0, 4.5);
+    const ProfileParametersT kInPlaceTurn = MakeProfileParameters(2.5, 7.0);
     StartDrive(0.0, aos::math::NormalizeAngle(M_PI / 2.0 - Theta()), kDrive,
                kInPlaceTurn);
 
@@ -369,8 +369,13 @@
         INFO, "Roller off %lf s\n",
         aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
+    if (!WaitForTurnProfileNear(0.6)) return;
+    AOS_LOG(
+        INFO, "Balance arm %lf s\n",
+        aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
+
     Balance();
-    if (!WaitForTurnProfileNear(0.03)) return;
+    if (!WaitForTurnProfileNear(0.001)) return;
 
     AOS_LOG(
         INFO, "Done turning %lf s\n",
@@ -378,7 +383,7 @@
 
     const ProfileParametersT kDrive = MakeProfileParameters(1.4, 3.0);
     const ProfileParametersT kFinalTurn = MakeProfileParameters(3.0, 4.5);
-    const double kDriveDistance = 3.12;
+    const double kDriveDistance = 3.11;
     StartDrive(-kDriveDistance, 0.0, kDrive, kFinalTurn);
 
     const ProfileParametersT kFastTurn = MakeProfileParameters(5.0, 8.0);
@@ -461,7 +466,7 @@
 
 void AutonomousActor::Balance() {
   set_arm_goal_position(
-      control_loops::superstructure::arm::GroundPickupFrontConeUpIndex());
+      control_loops::superstructure::arm::ScoreFrontLowCubeIndex());
   set_wrist_goal(0.0);
   SendSuperstructureGoal();
 }
diff --git a/y2023/autonomous/splines/spline.1.json b/y2023/autonomous/splines/spline.1.json
index ada494a..22e739f 100644
--- a/y2023/autonomous/splines/spline.1.json
+++ b/y2023/autonomous/splines/spline.1.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.6230056318540846, 2.595606822913154, 3.185901688984583, 5.530672564287547, 5.959977921430404, 6.389283278573261], "spline_y": [0.4224994345862587, 0.509568426046465, 0.509568426046465, 0.28192333408803366, 0.29981105730231944, 0.29981105730231944], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [1.6230056318540846, 2.595606822913154, 3.5201381785640087, 5.572187770143549, 6.006069035460717, 6.435374392603574], "spline_y": [0.4224994345862587, 0.509568426046465, 0.8395233993107027, 0.4247693876940553, 0.4460951327369448, 0.4460951327369448], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline.2.json b/y2023/autonomous/splines/spline.2.json
index bbefb4e..4a24ffc 100644
--- a/y2023/autonomous/splines/spline.2.json
+++ b/y2023/autonomous/splines/spline.2.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [6.389283278573261, 5.998153290606758, 4.236658486151713, 2.789187490908938, 2.3614674084109164, 1.571420503593167], "spline_y": [0.29981105730231944, 0.29981105730231944, 0.6546640312799279, 0.8695373532912908, -0.061240797065554964, -0.6670628799510845], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [6.435374392603574, 6.0442444046370705, 4.96865071295785, 2.8506937641800936, 2.4156145282058796, 1.571420503593167], "spline_y": [0.4460951327369448, 0.4460951327369448, 0.3376418389076542, 1.2164153540583742, -0.13930255865735708, -0.6670628799510845], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline.3.json b/y2023/autonomous/splines/spline.3.json
index d888718..bce0c4d 100644
--- a/y2023/autonomous/splines/spline.3.json
+++ b/y2023/autonomous/splines/spline.3.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.571420503593167, 3.182907251060901, 3.1860855438536575, 5.26674552341491, 4.916110025955861, 6.379956328994636], "spline_y": [-0.6670628799510845, 0.568653951467349, 0.5015288933650817, 0.5325195989567781, 0.24498490138963108, 0.24723266038664643], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.5, "start_distance": 4.1, "end_distance": 10.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [1.571420503593167, 3.533311283576554, 3.1860855438536575, 5.263533825984673, 4.912898328525625, 6.376744631564399], "spline_y": [-0.6670628799510845, 0.5594420208177215, 0.5015288933650817, 0.5641404302951452, 0.27660573272799804, 0.2788534917250134], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.5, "start_distance": 4.1, "end_distance": 10.0}]}
\ No newline at end of file