diff --git a/shared/comps/iddc.c b/shared/comps/iddc.c
index a0158a1b..1a99b7d8 100644
--- a/shared/comps/iddc.c
+++ b/shared/comps/iddc.c
@@ -22,7 +22,6 @@ HAL_PIN(timer);
 HAL_PIN(r);
 HAL_PIN(l);
 
-HAL_PIN(pp);
 HAL_PIN(com_offset);
 HAL_PIN(out_rev);
 
@@ -66,7 +65,6 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       PIN(r) = 0.1;
       PIN(l) = 0.001;
       PIN(psi) = 0.055;
-      PIN(pp) = 3.0;
       PIN(com_offset) = 0.0;
       PIN(out_rev) = 0.0;
       PIN(cur_bw) = 1.0;
@@ -196,14 +194,14 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       PIN(cur_bw) = 250.0;
 
       float vel_error = PIN(test_vel) - ABS(PIN(vel_fb));
-      vel_error = LIMIT(vel_error, PIN(test_vel) / 10.0);
+      vel_error = LIMIT(vel_error, PIN(test_vel) / 100.0);
 
       PIN(cur_sum) += PIN(ki) * vel_error * period;
 
       PIN(q_cmd) = PIN(vel_bw) * period * vel_error + PIN(cur_sum);
       
       if(ABS(PIN(vel_fb)) > 0.1){
-        float psi  = (PIN(uq_fb) - PIN(iq_fb) * PIN(r)) / (PIN(vel_fb) * PIN(pp));
+        float psi  = (PIN(uq_fb) - PIN(iq_fb) * PIN(r)) / (PIN(vel_fb));
         PIN(psi) = PIN(psi) * (1.0 - period / PIN(pi)) + psi * period / PIN(pi);
       }
 
diff --git a/shared/comps/idm.c b/shared/comps/idm.c
index e63a851b..82ef7772 100644
--- a/shared/comps/idm.c
+++ b/shared/comps/idm.c
@@ -54,10 +54,10 @@ static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   PIN(ji) = 200.0;
   PIN(di) = 10.0;
   PIN(pos_bw) = 5.0;
-  PIN(vel_bw) = 25.0;
+  PIN(vel_bw) = 40.0;
   PIN(vel_d) = 1.0;
-  PIN(max_vel) = 50.0;
-  PIN(max_acc) = 1000.0;
+  PIN(max_vel) = 25.0;
+  PIN(max_acc) = 250.0;
   PIN(min_pos) = -10.0;
   PIN(max_pos) = 10.0;
   PIN(auto_step) = 1.4;
diff --git a/shared/comps/idpmsm.c b/shared/comps/idpmsm.c
index 7eb5f462..1a4de65d 100644
--- a/shared/comps/idpmsm.c
+++ b/shared/comps/idpmsm.c
@@ -292,6 +292,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       PIN(com_pos) = mod((PIN(pos_fb) + PIN(com_offset)) * PIN(pp));
 
       float vel_error = PIN(test_vel) - PIN(vel_fb);
+      vel_error = LIMIT(vel_error, PIN(test_vel) / 100.0);
       PIN(cur_sum) += PIN(ki) * vel_error * period;
 
       PIN(q_cmd) = PIN(vel_bw) * period * vel_error + PIN(cur_sum);
diff --git a/shared/comps/ids.c b/shared/comps/ids.c
index fe5c8f71..b92f62e5 100644
--- a/shared/comps/ids.c
+++ b/shared/comps/ids.c
@@ -195,7 +195,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       if(PIN(timer) == 0.0){
         PIN(min_cost) = MIN(PIN(cost), PIN(min_cost));
 
-        PINA(max_params, 2) = PINA(params, 0) / 2.0;
+        PINA(max_params, 2) = PINA(params, 0) * 2.0;
 
         if(PINA(params, (int)PIN(param)) > PINA(max_params, (int)PIN(param))){
           PINA(params, (int)PIN(param)) = PINA(max_params, (int)PIN(param));