diff --git a/steer-pid.py b/steer-pid.py
index 02e93dd..3494041 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -92,9 +92,9 @@ for chunk in stream.iter_content(chunk_size=1024):
 
                     x = x - 160
 
-                    wp = 0.7
-                    wd = 0.3
-                    wi = 0
+                    wp = 0.6
+                    wd = 0.35
+                    wi = 0.05
                     mri = 0.2
 
                     v = 0.25
@@ -116,7 +116,7 @@ for chunk in stream.iter_content(chunk_size=1024):
                     cv2.putText(frame, f"P:{int(p)} D:{int(d)} I:{int(i)}", (10, 30),
                                 cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
                     #print("PDI: ", p, d, dtms, i)
-                    print(p, d, speedL, speedR)
+                    print(p, d, i, speedL, speedR)
             else:
                 ip = 0
         # ============================