diff --git a/op3_demo/src/soccer/ball_follower.cpp b/op3_demo/src/soccer/ball_follower.cpp
index 294cf7e..c5b0e84 100644
--- a/op3_demo/src/soccer/ball_follower.cpp
+++ b/op3_demo/src/soccer/ball_follower.cpp
@@ -48,7 +48,7 @@ BallFollower::BallFollower()
       NOT_FOUND_THRESHOLD(50),
       MAX_FB_STEP(40.0 * 0.001),
       MAX_RL_TURN(15.0 * M_PI / 180),
-      IN_PLACE_FB_STEP(0.0 * 0.001),
+      IN_PLACE_FB_STEP(-3.0 * 0.001),
       MIN_FB_STEP(5.0 * 0.001),
       MIN_RL_TURN(5.0 * M_PI / 180),
       UNIT_FB_STEP(1.0 * 0.001),
@@ -217,7 +217,7 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
     distance_to_ball *= (-1);
 
   //double distance_to_kick = 0.25;
-  double distance_to_kick = 0.15;
+  double distance_to_kick = 0.22;
 
   // check whether ball is correct position.
   if ((distance_to_ball < distance_to_kick) && (fabs(ball_x_angle) < 25.0))
diff --git a/op3_demo/src/vision/face_tracker.cpp b/op3_demo/src/vision/face_tracker.cpp
index 08a624c..2345b81 100644
--- a/op3_demo/src/vision/face_tracker.cpp
+++ b/op3_demo/src/vision/face_tracker.cpp
@@ -149,7 +149,7 @@ int FaceTracker::processTracking()
   face_position_.z = 0;
   count_not_found_ = 0;
 
-  double p_gain = 0.5, d_gain = 0.25;
+  double p_gain = 0.6, d_gain = 0.25;
   double x_error_diff = x_error - current_face_pan_;
   double y_error_diff = y_error - current_face_tilt_;
   double x_error_target = x_error * p_gain + x_error_diff * d_gain;