diff --git a/main/control/DCMotorActuator.cpp b/main/control/DCMotorActuator.cpp
index a2789fc..9edc7fd 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 0.1
+#define DEADZONE 0.5
 #define KP 0.07
 #define KI 0
 #define KD 0.065
 #define MIN_PWM_DUTY 675
 #define MAX_PWM_DUTY 1024
 #define TICKS_PER_ROTATION 14.0
-#define GEAR_RATIO 298.0
+#define GEAR_RATIO 210
 
 DCMotorActuator::DCMotorActuator() {
     ledc_timer_config_t ledc_timer = {
@@ -139,16 +139,16 @@ void DCMotorActuator::pid_task(char *args) {
         }
 
         if (control > 0) {
-            ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, FWD_CHANNEL, 0));
+            ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, FWD_CHANNEL, pwm));
             ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, FWD_CHANNEL));
 
-            ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, REV_CHANNEL, pwm));
-            ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, REV_CHANNEL));
-        } else {
             ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, REV_CHANNEL, 0));
             ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, REV_CHANNEL));
+        } else {
+            ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, REV_CHANNEL, pwm));
+            ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, REV_CHANNEL));
 
-            ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, FWD_CHANNEL, pwm));
+            ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, FWD_CHANNEL, 0));
             ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, FWD_CHANNEL));
         }