diff --git a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
index afdb82a..ac56a29 100644
--- a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
+++ b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
@@ -25,14 +25,17 @@ protected:
     volatile CTRL_MODE ctrlMode = CTRL_DIRECT;
 
     // TODO: After you tune your motors, set the gains here.
-    float Kp = 1;
-    float Ki = 0;
+    float Kp = 2.50;
+    float Ki = 0.03;
     float Kd = 0;
-    float Kf = 0;
+    float Kf = 3.00;
 
     // Used to keep track of the target speed, in counts / interval.
     float targetSpeed = 0;
 
+    // maximum accelration in counts/interval
+    float TRAPEZOIDAL_RAMP_RATE = 0;
+
     /**
      * This is the speed of the motor, in "encoder counts / encoder interval".
      * The encoder interval is set in Robot::InitializeMotorControlTimer.