diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
index 5809900..c41e693 100644
--- a/src/main/java/org/team1540/robot2024/Constants.java
+++ b/src/main/java/org/team1540/robot2024/Constants.java
@@ -270,10 +270,9 @@ public static class Tramp {
     }
 
     public static class Targeting {
-        // TODO: tune these
-        public static final double ROT_KP = 0.4;
+        public static final double ROT_KP = 0.3;
         public static final double ROT_KI = 0.0;
-        public static final double ROT_KD = 0.0;
+        public static final double ROT_KD = 0.002;
 
 
         public static final double SPEAKER_CENTER_HEIGHT = Units.inchesToMeters(80.4375);