diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 4cf6675..89c1bf0 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -16,10 +16,10 @@ const float FORWARD_DISTANCE = 40.0; // cm
 const float TURN_AMOUNT = 146.0; // degrees
 const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
 
-const float KP = 1.30; // proportional
-const float KI = 0.20; // integral
-const float KD = 0.01; // derivative
-const float Kv = 1.5; // onboard velocity feedforward
-const float KPP = 0.0; // position proportional
-const float KPI = 0.0; // position integral
+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 KRP = 0.0; // rotation proportional