diff --git a/Software/python/hwtest.py b/Software/python/hwtest.py
index f4b151a..a870d58 100644
--- a/Software/python/hwtest.py
+++ b/Software/python/hwtest.py
@@ -115,10 +115,11 @@ def control_thread():
     global time_data
     global servos
 
+    # TODO: make these parameters editable via network interface
     sample_interval = 0.01
     base_speed = 0.1
-    fir_taps = [1, 1, 0]
-    iir_taps = [0.99, 0]
+    fir_taps = [1, -1, 0]
+    iir_taps = [0, 0]
     time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1]))
 
     while True: