diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index bcd15f8..e05af11 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -29,8 +29,8 @@ public final class Constants {
         /* PID Constants Drive*/
         public static final int DRIVE_TIMEOUT_MS = 30;
         public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
-        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0);
-        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3);
+        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.1, 0, 1.0);
+        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.5);
         public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
         public static final int DRIVE_CRUISE_VELOCITY = 20000;
         public static final int DRIVE_ACCELERATION = 7000;