diff --git a/src/donut_3lb_config.h b/src/donut_3lb_config.h
index 97b45b0..e4f072b 100644
--- a/src/donut_3lb_config.h
+++ b/src/donut_3lb_config.h
@@ -29,7 +29,7 @@
 #define ACCEL_MOUNT_RADIUS_CM 0 // this being 0 prevents accel_offset from going negative in 3lb mode
 
 // this value will need to be tuned to a good speed - Cai
-#define HEADING_CONTROL_SENSITIVITY 0.01 // tunes how fast the heading led moves left or right
+#define HEADING_CONTROL_SENSITIVITY 0.05 // tunes how fast the heading led moves left or right
 
 #define ACCEL_1_X_OFFSET -7
 #define ACCEL_1_Y_OFFSET -5
@@ -38,17 +38,17 @@
 #define ACCEL_2_Y_OFFSET -5
 
 
-#define THROTTLE_PC_P 1 // was 0.5 for working translation test with 1lb on 4/29/26 - Cai
+#define THROTTLE_PC_P 1.5 // was 0.5 for working translation test with 1lb on 4/29/26 - Cai
 
 // CAN_ADJUST_ACCEL_MOUNT_RADIUS is defined here so you can use the 
 // left_stick_x to adjust the get_rpm_2accel RPM reading by a constant factor
 #define CAN_ADJUST_ACCEL_MOUNT_RADIUS
-#define ACCEL_OFFSET_SENSITIVITY 0.0001
+#define ACCEL_OFFSET_SENSITIVITY 0.005
 
 #define MOTOR_ON_PERCENT_DURATION 0.5 // This might technically be a half of a half - Cai (I still have no idea what this comment means - also Cai)
 #define MIN_TRANSLATION_RPM 400
 
-#define LED_OFFSET_PERCENT 0.25
+#define LED_OFFSET_PERCENT 0.5
 #define MIN_LED_PERCENT_DURATION 0.25
 #define MAX_LED_PERCENT_DURATION 0.5
 
@@ -56,7 +56,7 @@
 // the throttle sent to each motor can be during a half-rotation
 // 1 = very different
 // 0 = can't differ at all
-#define MELTY_MAX_TRANSLATION_AGGRESSION 0.75  
+#define MELTY_MAX_TRANSLATION_AGGRESSION 0.65  
 #define MELTY_MAX_THROTTLE 1
 
 #define TANK_DRIVE_MAX_THROTTLE 0.125
diff --git a/src/donut_accel.c b/src/donut_accel.c
index 2f3073c..1f4ea22 100644
--- a/src/donut_accel.c
+++ b/src/donut_accel.c
@@ -110,11 +110,11 @@ double get_rpm_2accel(double right_x_percent, double accel_offset_cm) {
 
 
         // Position vectors of the accelerometers (in cm)
-        Accel1Position.x = 1.0 * 1.0/sqrtf(2.0);
-        Accel1Position.y = 1.0 * 1.0/sqrtf(2.0);
+        Accel1Position.x = 1.025 * 1.0/sqrtf(2.0);
+        Accel1Position.y = 1.025 * 1.0/sqrtf(2.0);
 
-        Accel2Position.x = -1.0 * 1.0/sqrtf(2.0);
-        Accel2Position.y = -1.0 * 1.0/sqrtf(2.0);
+        Accel2Position.x = -1.025 * 1.0/sqrtf(2.0);
+        Accel2Position.y = -1.025 * 1.0/sqrtf(2.0);
 
 
         // omega = sqrt [ ||(a1 - a2)|| / ||(r2 - r1)|| ]