diff --git a/Software/python/hwtest.py b/Software/python/hwtest.py
index daac263..5505655 100644
--- a/Software/python/hwtest.py
+++ b/Software/python/hwtest.py
@@ -99,7 +99,7 @@ def controller():
     # TODO: make these parameters editable via network interface
     sample_interval = 0.01
     base_speed = 0.1
-    fir_taps = [1, -1, 0]
+    fir_taps = [1, 0, 0]
     iir_taps = [0, 0]
     time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1]))
     motor_directions = [-1, 1, 0]