diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index e276457..5a27afb 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -22,12 +22,12 @@
     name='Turret',
     motor=control_loop.Vex775Pro(),
     G=(6.0 / 60.0) * (26.0 / 150.0),
-    J=0.11,
-    q_pos=0.40,
-    q_vel=7.0,
+    J=0.20,
+    q_pos=0.30,
+    q_vel=4.5,
     kalman_q_pos=0.12,
-    kalman_q_vel=2.0,
-    kalman_q_voltage=3.0,
+    kalman_q_vel=10.0,
+    kalman_q_voltage=12.0,
     kalman_r_position=0.05)
 
 def main(argv):