diff --git a/src/comps/pid2.comp b/src/comps/pid2.comp
index 3dadd03e..7441183e 100644
--- a/src/comps/pid2.comp
+++ b/src/comps/pid2.comp
@@ -20,30 +20,29 @@
 
 COMP(pid);
 
-HAL_PIN(pos_ext_cmd) = 0.0;
-HAL_PIN(pos_fb) = 0.0;
-HAL_PIN(pos_cmd) = 0.0;
-HAL_PIN(pos_error) = 0.0;
+HAL_PIN(pos_ext_cmd) = 0.0; // cmd in (rad)
+HAL_PIN(pos_fb) = 0.0; // feedback in (rad)
+HAL_PIN(pos_error) = 0.0; // error out (rad)
 
-HAL_PIN(vel_ext_cmd) = 0.0;
-HAL_PIN(vel_fb) = 0.0;
-HAL_PIN(vel_cmd) = 0.0;
-HAL_PIN(vel_error) = 0.0;
+HAL_PIN(vel_ext_cmd) = 0.0; // cmd in (rad/s)
+HAL_PIN(vel_fb) = 0.0; // feedback in (rad/s)
+HAL_PIN(vel_cmd) = 0.0; // cmd out (rad/s)
+HAL_PIN(vel_error) = 0.0; // error out (rad/s)
 
-HAL_PIN(acc_ext_cmd) = 0.0;
-HAL_PIN(acc_cmd) = 0.0;
+HAL_PIN(acc_ext_cmd) = 0.0; // cmd in (rad/s^2)
+HAL_PIN(acc_cmd) = 0.0; // cmd out (rad/s^2)
 
-HAL_PIN(force_ext_cmd) = 0.0;
-HAL_PIN(force_cmd) = 0.0;
+HAL_PIN(force_ext_cmd) = 0.0; // cmd in (Nm)
+HAL_PIN(force_cmd) = 0.0; // cmd out (Nm)
 
-HAL_PIN(cur_ext_cmd) = 0.0;
-HAL_PIN(cur_fb) = 0.0;
-HAL_PIN(cur_cmd) = 0.0;
-HAL_PIN(cur_error) = 0.0;
+HAL_PIN(cur_ext_cmd) = 0.0; // cmd in (A)
+//HAL_PIN(cur_fb) = 0.0; // fb in (A)
+HAL_PIN(cur_cmd) = 0.0; // cmd out (A)
+//HAL_PIN(cur_error) = 0.0; // error out (A)
 
-HAL_PIN(volt_cmd) = 0.0;
+HAL_PIN(volt_cmd) = 0.0; // cmd out (V)
 
-HAL_PIN(pwm_cmd) = 0.0;
+HAL_PIN(pwm_cmd) = 0.0; // cmd out (V)
 
 
 HAL_PIN(enable) = 0.0;
@@ -54,51 +53,51 @@ HAL_PIN(force_en) = 1.0;
 HAL_PIN(cur_en) = 1.0;
 
 
-HAL_PIN(time) = 0.0002;
+HAL_PIN(time) = 0.0002; (s)
 
-HAL_PIN(mot_r) = 30.0;
-HAL_PIN(mot_l) = 0.01;
-HAL_PIN(mot_j) = 0.001;
-HAL_PIN(mot_km) = 30.0;
+HAL_PIN(mot_r) = 23.7; // resistance (ohm)
+HAL_PIN(mot_l) = 0.01; // inductance (henry)
+HAL_PIN(mot_j) = 0.000026; // inertia (kgm^2)
+HAL_PIN(mot_km) = 0.3724; // torque constant (Nm/A, V/rad/s)
 
-HAL_PIN(mot_fr) = 30.0;
-HAL_PIN(mot_fd) = 30.0;
-HAL_PIN(mot_fl) = 30.0;
+HAL_PIN(mot_fr) = 30.0; // friction (Nm)
+HAL_PIN(mot_fd) = 30.0; // damping (Nm/rad/s)
+HAL_PIN(mot_fl) = 30.0; // load (Nm)
 
 
 HAL_PIN(pos_p) = 100.0;
 
-HAL_PIN(vel_p) = 1.0;
+HAL_PIN(vel_p) = 0.5;
 HAL_PIN(vel_ff) = 1.0;
 
-HAL_PIN(acc_p) = 0.1;
-HAL_PIN(acc_pi) = 3.667;
+HAL_PIN(acc_p) = 0.5;
+HAL_PIN(acc_pi) = 0.0;
 HAL_PIN(acc_ff) = 1.0;
 
-HAL_PIN(force_p) = 3.667;
+HAL_PIN(force_p) = 0.5;
 HAL_PIN(force_ff) = 1.0;
 
-HAL_PIN(cur_p) = 0.0;
+HAL_PIN(cur_p) = 0.5;
 HAL_PIN(cur_ff) = 1.0;
-HAL_PIN(cur_kp) = 0.0;
-HAL_PIN(cur_ki) = 0.0;
+//HAL_PIN(cur_kp) = 0.0;
+//HAL_PIN(cur_ki) = 0.0;
 
 HAL_PIN(volt) = 130;
 
 
 // user limits
-HAL_PIN(vel_limit) = 1300.0;
+HAL_PIN(vel_limit) = 1250.0;
 HAL_PIN(acc_limit) = 300000.0;
-HAL_PIN(force_limit) = 100.0;
-HAL_PIN(cur_limit) = 10.0;
+HAL_PIN(force_limit) = 3.0;
+HAL_PIN(cur_limit) = 6.0;
 HAL_PIN(volt_limit) = 400.0;
-HAL_PIN(pwm_limit) = 0.9;
+HAL_PIN(pwm_limit) = 0.95;
 
 // max limits
-HAL_PIN(max_vel) = 1300.0;
+HAL_PIN(max_vel) = 1250.0;
 HAL_PIN(max_acc) = 300000.0;
-HAL_PIN(max_force) = 100.0;
-HAL_PIN(max_cur) = 10.0;
+HAL_PIN(max_force) = 3.0;
+HAL_PIN(max_cur) = 6.0;
 HAL_PIN(max_volt) = 400.0;
 HAL_PIN(max_pwm) = 0.95;
 
@@ -148,9 +147,9 @@ float forcecmd;
 float forcesat;
 
 float curextcmd = PIN(cur_ext_cmd);
-float curfb = PIN(cur_fb);
+//float curfb = PIN(cur_fb);
 float curcmd;
-float curerr = 0.0;
+//float curerr = 0.0;
 float cursat;
 
 float voltcmd;
@@ -166,11 +165,11 @@ if(r == 0.0){
 float l = PIN(mot_l);
 float j = PIN(mot_j);
 if(j == 0.0){
-  j = 1.0;
+  j = 0.0001;
 }
 float m = PIN(mot_km);
 if(m == 0.0){
-  m = 1.0;
+  m = 0.5;
 }
 float t = PIN(time);
 if(t == 0.0){
@@ -178,6 +177,9 @@ if(t == 0.0){
 }
 
 float vlt = PIN(volt);
+if(vlt == 0.0){
+  vlt = 0.1;
+}
 
 float velmax = MIN(PIN(vel_limit), PIN(max_vel));
 float velmin = -velmax;
@@ -233,9 +235,12 @@ if(PIN(enable) > 0.0){
     accp = 0.0;
     force_error_sum = 0.0;
   }
-  forcecmd = accp * acccmd / j + PIN(force_ff) * forceextcmd;
+  forcecmd = accp * acccmd * j + PIN(force_ff) * forceextcmd;
   force_error_sum += velerr * t * accp * accpi;
   force_error_sum = CLAMP(force_error_sum, forcemin_, forcemax_); //TODO
+  if(accpi == 0.0){
+    force_error_sum = 0.0;
+  }
   forcecmd += force_error_sum;
   forcesat = SAT2(forcecmd, forcemin_, forcemax_);
   forcecmd = CLAMP(forcecmd, forcemin_, forcemax_);
@@ -252,14 +257,11 @@ if(PIN(enable) > 0.0){
   if(PIN(cur_en) == 0.0){
     curp = 0.0;
   }
-  voltcmd = curp * curcmd / r + ind;
+  voltcmd = curp * curcmd * r + ind;
   voltsat = SAT2(voltcmd, voltmin, voltmax);
   voltcmd = CLAMP(voltcmd, voltmin, voltmax);
 
   // volt -> pwm
-  if(vlt == 0.0){
-    pwmcmd = 0.0;
-  }
   else{
     pwmcmd = voltcmd / vlt;
   }
@@ -290,7 +292,7 @@ PIN(vel_error) = velerr;
 PIN(acc_cmd) = acccmd;
 PIN(force_cmd) = forcecmd;
 PIN(cur_cmd) = curcmd;
-PIN(cur_error) = curerr;
+//PIN(cur_error) = curerr;
 PIN(volt_cmd) = voltcmd;
 PIN(pwm_cmd) = pwmcmd;
 PIN(vel_sat) = velsat;