diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 89c1bf0..cedaf3e 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -1,7 +1,7 @@
 #pragma once
 
 const float ACCEL_LIMIT = 7.0; // cm/s/s
-const float VEL_LIMIT = 8.0; // cm/s
+const float VEL_LIMIT = 12.0; // cm/s
 const float WHEEL_DIAMETER = 6.61; // cm
 const float WHEEL_TO_WHEEL = 8.6; // cm
 
@@ -12,14 +12,16 @@ const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
 const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
 
 //const float FORWARD_DISTANCE = 73.0; // cm
-const float FORWARD_DISTANCE = 40.0; // cm
-const float TURN_AMOUNT = 146.0; // degrees
+const float FORWARD_DISTANCE = 50.0; // cm
+const float TURN_AMOUNT = 210.0; // degrees
 const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
 
 const float KP = 1.40; // proportional
 const float KI = 0.10; // integral
 const float KD = 0.00; // derivative
 const float Kv = 1.8; // onboard velocity feedforward
-const float KPP = 0.08; // position proportional
-const float KPI = 0.04; // position integral
+const float KPP = 0.12; // position proportional
+const float KPI = 0.06; // position integral
 const float KRP = 0.0; // rotation proportional
+const float V_MIN = 5.5; // velocity minimum
+const float V_KMIN = 0.7; // velocity minimum coefficient
diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index 51d55c0..7fd2b6e 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -49,9 +49,9 @@ void setup() {
 
     Wire.begin(); // INIT ARDUINO UNO AS I2C CONTROLLER
 
-		left_motor.tune_pos_pid(0.4, 0.024, 0.008);
+		left_motor.tune_pos_pid(0.05, 0.014, 0.008);
     delay(1);
-		right_motor.tune_pos_pid(0.4, 0.024, 0.008);
+		right_motor.tune_pos_pid(0.05, 0.014, 0.008);
     delay(1);
     left_motor.tune_vel_pid(Kv, KP,KI,KD);
     delay(1);
@@ -107,11 +107,18 @@ void loop() {
   float right_effort = pos_err_right * KPP + right_iaccum * KPI;
   float left_effort = pos_err_left * KPP + left_iaccum * KPI;
 
+  
+#define sgn(x) ((x) < 0 ? -1 : ((x) > 0 ? 1 : 0))
+  //// boost on slowdowns
+  //if (setpoint.velocity < V_MIN && setpoint.acceleration < 0.0) {
+  //  right_effort += (float )sgn(right_effort) * (setpoint.velocity - V_MIN) * V_KMIN;
+  //  left_effort += (float )sgn(left_effort) * (setpoint.velocity - V_MIN) * V_KMIN;
+  //}
   float right_velocity = setpoint.velocity + right_effort;
   float left_velocity = (turnsig * setpoint.velocity) + left_effort;
   
   // arbitrary feedforward with on-board velocity PID
-	if (setpoint.complete && 0) {
+	if (setpoint.complete && robot_state == TURN) {
 		right_motor.write_angle((setpoint.position / DEG_CM) + right_home);
 		left_motor.write_angle((turnsig * setpoint.position / DEG_CM) + left_home);
 	} else {
@@ -166,13 +173,8 @@ void loop() {
     switch (robot_state) {
       case FORWARD:
         robot_state = TURN;
-				right_iaccum = left_iaccum = 8.0;
+				//right_iaccum = left_iaccum = 8.0;
         phase_start = (float)millis() / 1000.0;
-        // end
-        left_motor.write_rpm(0.0);
-        delay(1);
-        right_motor.write_rpm(0.0);
-        for (;;) {};
         break;
       case TURN:
         robot_state = RETURN;