diff --git a/steer-pid.py b/steer-pid.py
index f6130aa..06aa70b 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -94,9 +94,9 @@ for chunk in stream.iter_content(chunk_size=1024):
                     x = x - 160
 
                     wp = 0.8
-                    wd = 0.3
+                    wd = 0.4
                     wi = 0
-                    mri = 0.5
+                    mri = 0.333
 
                     v = 0.25