diff --git a/rally.py b/rally.py
index b7f4757..fb33d46 100644
--- a/rally.py
+++ b/rally.py
@@ -24,8 +24,8 @@ DECAY_MODE = motor.SLOW_DECAY
 UPDATE_RATE = 100  # Hz
 SLEEP_TIME = 1 / UPDATE_RATE
 BASE_THROTTLE = 0.9  # Base throttle for both motors
-Kp_sync = 0.05  # Proportional gain for sync correction
-Kd_sync = 0.001
+Kp_sync = 0.08  # Proportional gain for sync correction
+Kd_sync = 0.008
 prev_error = 0
 
 # Create a digitalinout object for the user switch
@@ -93,11 +93,12 @@ while True:
         
     if avg >= target_dist:
         print("Target reached!!!")
-        mot_left.throttle = left_throttle
-        mot_right.throttle = right_throttle
+        mot_left.throttle = 0
+        mot_right.throttle = 0
         break
     
-    mot_right.throttle = 1
-    mot_left.throttle = - 1
+    mot_right.throttle = - right_throttle
+    mot_left.throttle = - left_throttle
     
     time.sleep(0.05)
+print("Finished!!!")