diff --git a/main/control/DCMotorActuator.cpp b/main/control/DCMotorActuator.cpp
index 1057177..7448edc 100644
--- a/main/control/DCMotorActuator.cpp
+++ b/main/control/DCMotorActuator.cpp
@@ -13,14 +13,14 @@
 #define HIGH_DUTY 1000
 #define FWD_CHANNEL LEDC_CHANNEL_1
 #define REV_CHANNEL LEDC_CHANNEL_0
-#define DEADZONE 0.5
-#define KP 0.07
+#define DEADZONE 0.1
+#define KP 0.01
 #define KI 0
-#define KD 0.065
+#define KD 0.015
 #define MIN_PWM_DUTY 675
 #define MAX_PWM_DUTY 1024
 #define TICKS_PER_ROTATION 14.0
-#define GEAR_RATIO 210
+#define GEAR_RATIO 298
 
 DCMotorActuator::DCMotorActuator() {
     ledc_timer_config_t ledc_timer = {