diff --git a/Code/STM32/Core/Src/Components/Robot.cpp b/Code/STM32/Core/Src/Components/Robot.cpp
index 31c9e65..06e6f48 100644
--- a/Code/STM32/Core/Src/Components/Robot.cpp
+++ b/Code/STM32/Core/Src/Components/Robot.cpp
@@ -62,11 +62,11 @@ void Robot::init(){
 	debug.info("Init ESP8266 end");
 	motor0.setEncoder(&encoder0);
 	motor1.setEncoder(&encoder1);
-	motor0.kp = 1.7198/CONVERSION;
-	motor0.ki = 46.62/(ticksPerSecond*CONVERSION);
+	motor0.kp = 1.3016/CONVERSION;
+	motor0.ki = 22.3758/(ticksPerSecond*CONVERSION);
 	motor0.kd = 0*ticksPerSecond/CONVERSION;
-	motor1.kp = 0.0017198/CONVERSION;
-	motor1.ki = 0.04662/(ticksPerSecond*CONVERSION);
+	motor1.kp = 1.3016/CONVERSION;
+	motor1.ki = 22.3758/(ticksPerSecond*CONVERSION);
 	motor1.kd = 0*ticksPerSecond/CONVERSION;
 	debug.info("Init timers begin");
 	//HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_1);
diff --git a/Code/Untitled 1.vi b/Code/Untitled 1.vi
index c2c55fc..a15a7ab 100644
Binary files a/Code/Untitled 1.vi and b/Code/Untitled 1.vi differ
diff --git a/Code/pidTuner/PID_differential_3S.mat b/Code/pidTuner/PID_differential_3S.mat
new file mode 100644
index 0000000..0a88c91
Binary files /dev/null and b/Code/pidTuner/PID_differential_3S.mat differ