diff --git a/pid-example/pid-example.ino b/pid-example/pid-example.ino
index a120faf..1f47585 100644
--- a/pid-example/pid-example.ino
+++ b/pid-example/pid-example.ino
@@ -4,9 +4,9 @@ QTRSensors qtr;
 const uint8_t SensorCount = 8;
 uint16_t sensorValues[SensorCount];
 
-float Kp = 0.09; //set up the constants value
-float Ki = 0.0009;
-float Kd = 0.3;
+float Kp = 0.085; //set up the constants value
+float Ki = 0.00004;
+float Kd = 0.65;
 int P;
 int I;
 int D;
@@ -15,14 +15,14 @@ int lastError = 0;
 boolean onoff = false;
 
 //Increasing the maxspeed can damage the motors - at a value of 255 the 6V motors will receive 7,4 V 
-const uint8_t maxspeeda = 150;
-const uint8_t maxspeedb = 150;
+const uint8_t maxspeeda = 125;
+const uint8_t maxspeedb = 125;
 const uint8_t basespeeda = 100;
 const uint8_t basespeedb = 100;
 
 // adding minspeed so it can reverse
-const int minspeeda = -150;
-const int minspeedb = -150;
+const int minspeeda = -125;
+const int minspeedb = -125;
 
 //Set up the drive motor carrier pins
 int mode = 8;