diff --git a/lasertrack.py b/lasertrack.py
index 64ef99d..1305260 100755
--- a/lasertrack.py
+++ b/lasertrack.py
@@ -40,11 +40,11 @@ ap.add_argument("-x", "--width", type=int, default=320,
 	help="width")
 ap.add_argument("-y", "--height", type=int, default=240,
 	help="height")
-ap.add_argument("-kp", "--kp", type=float, default=2.0,		# 2.0
+ap.add_argument("-kp", "--kp", type=float, default=1.00,		# 1.00
 	help="kp")
-ap.add_argument("-ki", "--ki", type=float, default=0.1,		# 0.1
+ap.add_argument("-ki", "--ki", type=float, default=0.05,		# 0.05
 	help="ki")
-ap.add_argument("-kd", "--kd", type=float, default=6.0,		# 6.0
+ap.add_argument("-kd", "--kd", type=float, default=3.00,		# 3.00
 	help="kd")
 args = vars(ap.parse_args())
 
@@ -151,8 +151,8 @@ class LaserTrack(RgbProcess):
 					print ("Visible")
 				self.isVisible = True
 				img1_objects = cv2.rectangle(img1_objects,rect[0],rect[1],(255,0,0),1)
-				errorX = -100.0*(float(x)/self.res[0] - 0.5)
-				errorY = -100.0*(float(y)/self.res[1] - 0.5)
+				errorX = -200.0*(float(x)/self.res[0] - 0.5)
+				errorY = -200.0*(float(y)/self.res[1] - 0.5)
 			else:
 				if self.isVisible:
 					self.pidCtrlX.reset()