diff --git a/motor.c b/motor.c
index 377e4be..4e119c9 100644
--- a/motor.c
+++ b/motor.c
@@ -11,8 +11,8 @@ float last[3];
 
 float throttle = 0.0f;
 
-#define Kp 0.3
-#define Ki 0.02
+#define Kp 0.2
+#define Ki 0.04
 #define Kd 0.08
 #define Ka 0.0