diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index f29855a..57eb4a2 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -188,8 +188,12 @@
     // TODO(sabina): max height please?
     if (data.IsPressed(kFallOver)) {
       new_superstructure_goal->stilts.unsafe_goal = 0.71;
+      new_superstructure_goal->stilts.profile_params.max_velocity = 0.45;
+      new_superstructure_goal->stilts.profile_params.max_acceleration = 0.5;
     } else if (data.IsPressed(kDeployStilt)) {
       new_superstructure_goal->stilts.unsafe_goal = 0.50;
+      new_superstructure_goal->stilts.profile_params.max_velocity = 0.45;
+      new_superstructure_goal->stilts.profile_params.max_acceleration = 0.5;
     } else {
       new_superstructure_goal->stilts.unsafe_goal = 0.01;
     }