diff --git a/src/main.cpp b/src/main.cpp
index beab5d7..beddc85 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -70,8 +70,8 @@ void setup()
   motor.PID_velocity.I = 0.01;
   motor.PID_velocity.D = 0.0;
   motor.LPF_velocity.Tf = 0.01f;
-  motor.P_angle.P = 200.0;
-  motor.P_angle.I = 50.0;
+  motor.P_angle.P = 120.0;
+  motor.P_angle.I = 10.0;
   motor.velocity_limit = 50;
 
   motor.useMonitoring(Serial);
@@ -86,7 +86,7 @@ void setup()
 
   motor.linkSensor(&sensor);
   motor.init();
-  motor.initFOC();
+  motor.initFOC(5.48, CCW);
 }
 
 void loop()