diff --git a/y2024/autonomous/autonomous_actor.cc b/y2024/autonomous/autonomous_actor.cc
index 9b4f7f8..c9da1f0 100644
--- a/y2024/autonomous/autonomous_actor.cc
+++ b/y2024/autonomous/autonomous_actor.cc
@@ -226,7 +226,6 @@
   Aim();
   if (!WaitForPreloaded()) return;
 
-  std::this_thread::sleep_for(chrono::milliseconds(500));
   Shoot();
 
   AOS_LOG(
@@ -308,13 +307,13 @@
   if (!splines[4].WaitForPlan()) return;
   splines[4].Start();
 
-  if (!splines[4].WaitForSplineDistanceRemaining(0.05)) return;
+  if (!splines[4].WaitForSplineDistanceRemaining(0.01)) return;
 
   AOS_LOG(
       INFO, "Done with spline %lfs\n",
       aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
-  std::this_thread::sleep_for(chrono::milliseconds(300));
+  std::this_thread::sleep_for(chrono::milliseconds(500));
 
   AOS_LOG(
       INFO, "Shooting last note! %lfs\n",
diff --git a/y2024/autonomous/splines/five_note.0.json b/y2024/autonomous/splines/five_note.0.json
index ba8ac2c..e21be61 100644
--- a/y2024/autonomous/splines/five_note.0.json
+++ b/y2024/autonomous/splines/five_note.0.json
@@ -1,20 +1,20 @@
 {
     "spline_count": 1,
     "spline_x": [
-        -6.96,
-        -6.616444808957066,
-        -6.440474125870341,
-        -6.410863453750628,
-        -6.106827763281826,
-        -5.963275576067123
+        -6.837790264225116,
+        -6.431035594540573,
+        -6.2550649114538475,
+        -6.681741927563226,
+        -6.377706237094424,
+        -5.921735095811581
     ],
     "spline_y": [
-        0.474,
-        0.474,
-        0.3795291901917933,
-        0.4482348806874367,
-        0.31444590142149437,
-        0.26227873892724274
+        1.3535788089450442,
+        1.352246384830838,
+        1.2577755750226314,
+        0.6390756151537094,
+        0.505286635887767,
+        0.26109745109761073
     ],
     "constraints": [
         {
diff --git a/y2024/autonomous/splines/five_note.1.json b/y2024/autonomous/splines/five_note.1.json
index d65db75..02c7944 100644
--- a/y2024/autonomous/splines/five_note.1.json
+++ b/y2024/autonomous/splines/five_note.1.json
@@ -1,20 +1,20 @@
 {
     "spline_count": 1,
     "spline_x": [
-        -5.963275576067123,
-        -6.043899374861988,
-        -6.14218730470054,
-        -6.299979097775238,
-        -6.333362095101602,
-        -6.385753156016853
+        -5.921735095811581,
+        -5.997356157615366,
+        -6.1394966638452235,
+        -6.356632365068064,
+        -6.390015362394428,
+        -6.442406423309679
     ],
     "spline_y": [
-        0.26227873892724274,
-        0.2915775945855339,
-        0.27680408013743,
-        0.19285548109740952,
-        0.09423634731960748,
-        -0.012742650262493882
+        0.26109745109761073,
+        0.30159528914692224,
+        0.3303773156538068,
+        0.24034081023232307,
+        0.14172167645452102,
+        0.03474267887241966
     ],
     "constraints": [
         {
diff --git a/y2024/autonomous/splines/five_note.2.json b/y2024/autonomous/splines/five_note.2.json
index e67e8f0..442ce48 100644
--- a/y2024/autonomous/splines/five_note.2.json
+++ b/y2024/autonomous/splines/five_note.2.json
@@ -1,17 +1,17 @@
 {
     "spline_count": 1,
     "spline_x": [
-        -6.385753156016853,
-        -6.038148386644435,
-        -5.498099209905131,
+        -6.442406423309679,
+        -6.09480165393726,
+        -5.554752477197956,
         -5.500010615292536,
         -5.505673744840998,
         -5.450725524128315
     ],
     "spline_y": [
-        -0.012742650262493882,
-        0.6970427431345343,
-        1.0584941253106013,
+        0.03474267887241966,
+        0.7445280722694474,
+        1.1059794544455144,
         1.0226571920273129,
         1.4628922679287215,
         2.245294280677646
@@ -31,7 +31,7 @@
         },
         {
             "constraint_type": "VELOCITY",
-            "value": 0.4,
+            "value": 0.6,
             "start_distance": 1.5,
             "end_distance": 10.0
         }
diff --git a/y2024/autonomous/splines/five_note.3.json b/y2024/autonomous/splines/five_note.3.json
index 148c79d..f4239d6 100644
--- a/y2024/autonomous/splines/five_note.3.json
+++ b/y2024/autonomous/splines/five_note.3.json
@@ -4,17 +4,17 @@
         -5.450725524128315,
         -5.4125513915961285,
         -3.9062446310670764,
-        -2.1352203510523458,
-        -1.1691608738981074,
-        -0.19389194554058786
+        -2.390277169363972,
+        -1.4242176922097336,
+        -0.44894876385221405
     ],
     "spline_y": [
         2.245294280677646,
         2.7888517924722676,
         3.9025565085593934,
-        2.6507161302136577,
-        2.1538810971324764,
-        1.7882868785936012
+        2.9014194169393095,
+        2.4045843838581282,
+        2.0389901653192535
     ],
     "constraints": [
         {
@@ -27,7 +27,7 @@
         },
         {
             "constraint_type": "VOLTAGE",
-            "value": 10.0
+            "value": 8.0
         },
         {
             "constraint_type": "VELOCITY",
@@ -36,4 +36,4 @@
             "end_distance": 100.0
         }
     ]
-}
+}
\ No newline at end of file
diff --git a/y2024/autonomous/splines/five_note.4.json b/y2024/autonomous/splines/five_note.4.json
index 93421e2..1c210a5 100644
--- a/y2024/autonomous/splines/five_note.4.json
+++ b/y2024/autonomous/splines/five_note.4.json
@@ -1,17 +1,17 @@
 {
     "spline_count": 1,
     "spline_x": [
-        -0.19389194554058786,
-        -1.169167650726454,
-        -2.1352271278806922,
+        -0.44894876385221405,
+        -1.42422446903808,
+        -2.3902839461923184,
         -3.6552329072641223,
         -4.682377123355169,
         -5.357290416833793
     ],
     "spline_y": [
-        1.7882868785936012,
-        2.153883637528455,
-        2.650718670609636,
+        2.0389901653192535,
+        2.4045869242541067,
+        2.901421957335288,
         2.3043000750345737,
         1.9165787798578524,
         1.7991159872216307
@@ -36,4 +36,4 @@
             "end_distance": 100.0
         }
     ]
-}
+}
\ No newline at end of file