Lesson-4.markdown

@@ -84,9 +84,9 @@ By repeatly tuning the paramters we ended up with the optimal setting of:
 | Parameter     | Value  |
 | ------------- |:------:|
 | Kp            | 1 |
-| Ki            | 2 |  
-| Kd            | 3 | 
-| Tp            | 4 |
+| Ki            | 0.001 |  
+| Kd            | 0 | 
+| Tp            | 90 |
 
 ### Exercise 6, Color Sensor