diff --git a/Core/Inc/modelec.h b/Core/Inc/modelec.h
index cdacbf4..f787018 100644
--- a/Core/Inc/modelec.h
+++ b/Core/Inc/modelec.h
@@ -17,6 +17,7 @@
 
 #define PWM_MAX 640.0f
 #define V_MAX 0.643f // m/s
+#define A_MAX 10.0f // m/s^2 huge value cause idk what to put there
 
 #define MAX_WAYPOINTS 16
 #define ENCODER_RES 2400.0f
@@ -69,7 +70,7 @@ public:
 	float precisePos = 0.15f;
 
 	float currentV = 0;
-	const float maxAccel = 0.5f;
+	const float maxAccel = A_MAX;
 
 	static bool isDelayPassedFrom(uint32_t delay, uint32_t& lastTick);
 
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index 82d5700..8306531 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -60,10 +60,10 @@ void DiffBot::stop(bool stop)
 
 void DiffBot::setup()
 {
-    pidLeft = PID(4.5f, 2.0f, 2.0f, -PWM_MAX, PWM_MAX);
-    pidRight = PID(4.5f, 2.0f, 2.0f, -PWM_MAX, PWM_MAX);
-    pidPos = PID(3.0f, 0.0f, 0.0f, -V_MAX, V_MAX);
-    pidTheta = PID(13.0f, 0.0f, 0.0f, -M_PI, M_PI);
+    pidLeft = PID(5.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
+    pidRight = PID(5.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
+    pidPos = PID(3.5f, 0.0f, 0.0f, -V_MAX, V_MAX);
+    pidTheta = PID(11.0f, 0.0f, 0.0f, -M_PI, M_PI);
 
     prevCountLeft = __HAL_TIM_GET_COUNTER(&htim2);
     prevCountRight = __HAL_TIM_GET_COUNTER(&htim3);
@@ -182,7 +182,6 @@ void DiffBot::update(float dt_actual)
         }
 
         wRef = pidTheta.compute(0, -angleError, dt);
-
         float alignScale = std::max(0.0f, cosf(angleError));
         float targetV = pidPos.compute(0, -dist * direction, dt) * alignScale;
 
diff --git a/Core/Src/motors.cpp b/Core/Src/motors.cpp
index bf764ca..538e110 100644
--- a/Core/Src/motors.cpp
+++ b/Core/Src/motors.cpp
@@ -14,7 +14,7 @@ float approach(float current, float target, float step) {
 
 void Motor::update() {
 
-    int16_t max_step = 10;
+    int16_t max_step = 20;
 
     leftTarget_PWM  = std::max(-PWM_MAX, std::min((float)leftTarget_PWM,  PWM_MAX));
     rightTarget_PWM = std::max(-PWM_MAX, std::min((float)rightTarget_PWM, PWM_MAX));