diff --git a/src/main/java/frc/robot/autos/trailblazer/Trailblazer.java b/src/main/java/frc/robot/autos/trailblazer/Trailblazer.java
index 7eca909..1ff0cda 100644
--- a/src/main/java/frc/robot/autos/trailblazer/Trailblazer.java
+++ b/src/main/java/frc/robot/autos/trailblazer/Trailblazer.java
@@ -29,7 +29,7 @@ private static AutoConstraintOptions resolveConstraints(
   private final PathTracker pathTracker = new HeuristicPathTracker();
   private final PathFollower pathFollower =
       new PidPathFollower(
-          new PIDController(0, 0, 0), new PIDController(0, 0, 0), new PIDController(0, 0, 0));
+          new PIDController(4, 0, 0), new PIDController(4, 0, 0), new PIDController(2.5, 0, 0));
   private int previousAutoPointIndex = -1;
 
   public Trailblazer(SwerveSubsystem swerve, LocalizationSubsystem localization) {