diff --git a/main/control/DCMotorActuator.cpp b/main/control/DCMotorActuator.cpp
index 7448edc..c62831e 100644
--- a/main/control/DCMotorActuator.cpp
+++ b/main/control/DCMotorActuator.cpp
@@ -8,18 +8,19 @@
 #include "esp_attr.h"
 #include "flatbuffers_generated/SensorMessage_generated.h"
 #include "util/number_utils.h"
+#include "esp_log.h"
 
 #define LOW_DUTY 200
 #define HIGH_DUTY 1000
 #define FWD_CHANNEL LEDC_CHANNEL_1
 #define REV_CHANNEL LEDC_CHANNEL_0
-#define DEADZONE 0.1
+#define DEADZONE 0.05
 #define KP 0.01
 #define KI 0
-#define KD 0.015
+#define KD 0.020
 #define MIN_PWM_DUTY 675
 #define MAX_PWM_DUTY 1024
-#define TICKS_PER_ROTATION 14.0
+#define TICKS_PER_ROTATION 18.0
 #define GEAR_RATIO 298
 
 DCMotorActuator::DCMotorActuator() {