diff --git a/lib/Chassis/src/constants.h b/lib/Chassis/src/constants.h
index 435a7d2..3be7c34 100644
--- a/lib/Chassis/src/constants.h
+++ b/lib/Chassis/src/constants.h
@@ -7,8 +7,8 @@
  * tune them.
  */
 const float ROBOT_RADIUS = 14.7 / 2;
-const float LEFT_TICKS_PER_CM = 1440.0 / (3.1416 * 4.0);
-const float RIGHT_TICKS_PER_CM = 1440.0 / (3.1416 * 4.0);
+const float LEFT_TICKS_PER_CM = 1440.0 / (3.1416 * 7);
+const float RIGHT_TICKS_PER_CM = 1440.0 / (3.1416 * 7);
 
 /**
  * You can change the control loop period, but you should use multiples of 4 ms to 
diff --git a/lib/LineSensor/src/LineSensor.cpp b/lib/LineSensor/src/LineSensor.cpp
index 2a800e5..879fee1 100644
--- a/lib/LineSensor/src/LineSensor.cpp
+++ b/lib/LineSensor/src/LineSensor.cpp
@@ -2,7 +2,7 @@
 
 #define DARK_THRESHOLD 500;
 
-#define LINE_THRESHOLD 200;
+#define LINE_THRESHOLD 110;
 #define INTERSECTION_THRESHOLD 500;
 
 void LineSensor::Initialize(void)
diff --git a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
index 5469c4f..c347b63 100644
--- a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
+++ b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
@@ -34,7 +34,7 @@ protected:
     // Used to keep track of the target speed, in counts / interval.
     float targetSpeed = 0;
 
-    float TRAPEZOIDAL_RAMP_RATE_CM_S = 30.;
+    float TRAPEZOIDAL_RAMP_RATE_CM_S = 10.;
     // maximum accelration in counts/interval
     float TRAPEZOIDAL_RAMP_RATE = TRAPEZOIDAL_RAMP_RATE_CM_S / LEFT_TICKS_PER_CM / CONTROL_LOOP_PERIOD_S;
     float currentSetpoint = 0;
diff --git a/src/robot.cpp b/src/robot.cpp
index cf0a9c3..5f23335 100644
--- a/src/robot.cpp
+++ b/src/robot.cpp
@@ -123,6 +123,18 @@ void Robot::LineFollowingUpdate(void)
 
         float turnEffort = powErr * lining_kP2 + lineError * lining_kP + errDiff * lining_kD;
 
+#ifdef __LINING_DEBUG__
+        Serial.print(lineSensor.CalcError());
+        Serial.print(' ');
+        Serial.print(lineError * lining_kP);
+        Serial.print(' ');
+        Serial.print(errDiff * lining_kD);
+        Serial.print(' ');
+        Serial.print(turnEffort);
+        Serial.print(' ');
+        Serial.println(lineSensor.AverageReflectance());
+#endif
+
         rollingTurnRate = rollingTurnRate * turnRateDamp + turnEffort * (1-turnRateDamp);
 
         float speed = baseSpeed;
diff --git a/src/robot.h b/src/robot.h
index 1823c2a..99def59 100644
--- a/src/robot.h
+++ b/src/robot.h
@@ -3,7 +3,9 @@
 #include <LineSensor.h>
 #include <LSM6.h>
 
-static float lining_kP = 1.24;
+static float lining_kP2 = 0.67;
+static float lining_kP = 0.72;
+static float lining_kD = -1.2;
 
 class Robot
 {
@@ -58,8 +60,8 @@ protected:
     float baseSpeed = 0;
 
     float rollingTurnRate = 0;
-    float turnRateDamp = 0.96; // the proportion of the turn rate retained each loop
-    float KTurnRate = 0.25; // slowdown coefficient
+    float turnRateDamp = 0.975; // the proportion of the turn rate retained each loop
+    float KTurnRate = 0.18; // slowdown coefficient
 
     /**
      * For tracking the motion of the Romi. We keep track of the intersection we came