diff --git a/main.c b/main.c
index 14257c5..5b47d04 100644
--- a/main.c
+++ b/main.c
@@ -15,9 +15,9 @@
 #define SCENE_WIDTH (WIN_WIDTH - 2 * MARGIN_X)
 #define SCENE_HEIGHT (WIN_HEIGHT - 2 * MARGIN_Y)
 
-#define CART_WIDTH 50
+#define CART_WIDTH 40
 #define CART_HEIGHT 20
-#define MASS_RADIUS 10
+#define MASS_RADIUS 20
 #define SETPOINT_LN_LEN 40
 
 #define A_KP 80.0
@@ -36,7 +36,7 @@ typedef struct {
 } state_t;
 
 static const double mc = 2; // Cart mass
-static const double mp = 2; // Pendulum mass
+static const double mp = 4; // Pendulum mass
 static const double l = 0.5; // Pendulum length
 static const double g = 9.8; // Gravity
 
@@ -75,7 +75,7 @@ static double control(const state_t *s, double pos, double dt)
 
 	const double err_a = s->a - target_a;
 	const double deriv_a = (err_a - prev_a) / dt;
-	const double out = CLAMP(A_KP * err_a + A_KD * deriv_a, -5.0, 5.0);
+	const double out = CLAMP(A_KP * err_a + A_KD * deriv_a, -10.0, 10.0);
 	prev_a = err_a;
 
 	return out;