diff --git a/src/main/java/frc/robot/config/RobotConfig.java b/src/main/java/frc/robot/config/RobotConfig.java
index 9ae0d817..a44dfaff 100644
--- a/src/main/java/frc/robot/config/RobotConfig.java
+++ b/src/main/java/frc/robot/config/RobotConfig.java
@@ -79,8 +79,8 @@ public static class ArmConstants {
 
     public static double maxAngleInDegrees = 90.0;
     public static double minAngleInDegrees = 0.0;
-    public static double maxVelocityInDegreesPerSecond = 90;
-    public static double maxAccelerationInDegreesPerSecondSquared = 720;
+    public static double maxVelocityInDegreesPerSecond = 45;
+    public static double maxAccelerationInDegreesPerSecondSquared = 120;
 
     public static double intakeAngleInDegrees = 1;
     public static double ejectAngleInDegrees = 15;
diff --git a/src/main/java/frc/robot/config/RobotConfigInferno.java b/src/main/java/frc/robot/config/RobotConfigInferno.java
index 76edd291..6dcc2363 100644
--- a/src/main/java/frc/robot/config/RobotConfigInferno.java
+++ b/src/main/java/frc/robot/config/RobotConfigInferno.java
@@ -87,8 +87,8 @@ public RobotConfigInferno() {
     ArmConstants.ffKv = 6.18;
     ArmConstants.ffKa = 0.04;
 
-    ArmConstants.maxVelocityInDegreesPerSecond = 90;
-    ArmConstants.maxAccelerationInDegreesPerSecondSquared = 720;
+    ArmConstants.maxVelocityInDegreesPerSecond = 45;
+    ArmConstants.maxAccelerationInDegreesPerSecondSquared = 120;
 
     ArmConstants.pidMaxOutput = 6.0;
     ArmConstants.pidMinOutput = -5.0;