diff --git a/src/config.h b/src/config.h
index 3264630b..9b5d4a76 100644
--- a/src/config.h
+++ b/src/config.h
@@ -24,11 +24,11 @@
 #define KP_ANGULAR .05
 #define KD_ANGULAR 1.
 #define KP_ANGULAR_FRONT .5
-#define KI_ANGULAR_FRONT 2.
-#define KP_ANGULAR_SIDE 2.
-#define KI_ANGULAR_SIDE 4.
-#define KP_ANGULAR_DIAGONAL 2.
-#define KI_ANGULAR_DIAGONAL 4.
+#define KI_ANGULAR_FRONT 1.
+#define KP_ANGULAR_SIDE 4.
+#define KI_ANGULAR_SIDE 2.
+#define KP_ANGULAR_DIAGONAL 4.
+#define KI_ANGULAR_DIAGONAL 2.
 
 struct control_constants {
 	float kp_linear;
diff --git a/src/mmlib b/src/mmlib
index 778326fe..008268fa 160000
--- a/src/mmlib
+++ b/src/mmlib
@@ -1 +1 @@
-Subproject commit 778326fe4741819060aa3cba9482f364ed15eca7
+Subproject commit 008268facaeb229ec6a4fd0ce87e5e41e8b1fa07