diff --git a/src/C++/Driver/src/CKobuki.cpp b/src/C++/Driver/src/CKobuki.cpp
index 57518be..2879f9c 100755
--- a/src/C++/Driver/src/CKobuki.cpp
+++ b/src/C++/Driver/src/CKobuki.cpp
@@ -644,9 +644,9 @@ void CKobuki::doRotation(long double th) {
   long double u =
       0; // controlled variable, angular speed of the robot during movement
   long double w = th; // desired value in radians
-  long double Kp = PI;
+  long double Kp = 2.0;
   long double e = 0;
-  int thresh = PI / 2;
+  long double thresh = 1.0;
 
   theta = 0;
   x = 0;