diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
index a72c789..d5f80fc 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
@@ -110,7 +110,7 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
 	//motor->motor_status.nextHallPattern	 = 3;
 	
 	motor->motor_status.speed_average		 = 0;
-	motor->motor_status.count				  =1;
+	motor->motor_status.count				 = 1;
 		
 	// ----------------------------------------------------------------------
 	//  Initialize Phase Current Struct:
@@ -177,8 +177,10 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
 	//motor->controllers.Pid_Speed.Kd = 0.001f;
 		
 	/* VI Control Gains */
-	motor->controllers.Pid_Speed.Kp = 0.0002f;
-	motor->controllers.Pid_Speed.Ki = 0.0000001f;
+	//motor->controllers.Pid_Speed.Kp = 0.0002f;
+	//motor->controllers.Pid_Speed.Ki = 0.0000001f;
+	motor->controllers.Pid_Speed.Kp = motor_param->controller_param.Pid_Speed.Kp;
+	motor->controllers.Pid_Speed.Ki = motor_param->controller_param.Pid_Speed.Ki;
 	
 	//motor->controllers.Pid_Speed.Kp = 0.0005f;
 	//motor->controllers.Pid_Speed.Ki = 0.0f;
@@ -192,8 +194,10 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
 	////  Initialize PI Position control
 	//// ------------------------------------------------------------------------------
 	PI_objectInit(&motor->controllers.Pi_Pos);
-	motor->controllers.Pi_Pos.Kp = 40.0f;
-	motor->controllers.Pi_Pos.Ki = 0.0f;	
+	//motor->controllers.Pi_Pos.Kp = 40.0f;
+	//motor->controllers.Pi_Pos.Ki = 0.0f;	
+	motor->controllers.Pi_Pos.Kp = motor_param->controller_param.Pi_Pos.Kp;
+	motor->controllers.Pi_Pos.Ki = motor_param->controller_param.Pi_Pos.Ki;
 	motor->controllers.Pi_Pos.OutMax_pu =  (motor_param->motor_Max_Spd_RPM);
 	motor->controllers.Pi_Pos.OutMin_pu = -(motor_param->motor_Max_Spd_RPM);
 }
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h b/2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h
index db701a1..fc8b01a 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h
@@ -45,13 +45,6 @@ volatile typedef struct timerflags
 	volatile bool motor_telemetry_flag;
 }	TIMERflags_t;
 
-volatile typedef struct
-{
-	volatile PI_t	Pi_Idc;
-	volatile PID_t	Pid_Speed;
-	volatile PI_t	Pi_Pos;
-}	MOTOR_Control_Structs;
-
 volatile typedef struct
 {
 	volatile uint8_t   desiredDirection;	//! The desired direction of rotation.
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/control.h b/2_Motor_Master/Motor_Master/Motor_Master/control.h
index a49da83..ca1adaa 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/control.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/control.h
@@ -71,6 +71,12 @@ typedef volatile struct
 	//FILTER_FO_Obj    derFilter;         //!< the derivative filter object
 } PID_t;
 
+volatile typedef struct
+{
+	volatile PI_t	Pi_Idc;
+	volatile PID_t	Pid_Speed;
+	volatile PI_t	Pi_Pos;
+}	MOTOR_Control_Structs;
 
 // ----------------------------------------------------------------------
 // 	functions
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
index e734f65..4e405b4 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
@@ -9,6 +9,7 @@
 #ifndef MOTORPARAMETERS_H_
 #define MOTORPARAMETERS_H_
 #include "atmel_start.h"
+#include "control.h"
 
 // ----------------------------------------------------------------------
 // 	M1 Hall Parameters
@@ -131,6 +132,7 @@ typedef struct
 	const float32_t motor_MeasureRange_RPM;	// give 20% headroom
 	const float32_t motor_Max_Spd_ELEC;
 	const float32_t motor_Max_Current_IDC_A;
+	MOTOR_Control_Structs controller_param;
 } BLDCMotor_param_t;
 
 //static BLDCMotor_param_t FH_22mm24BXTR;
@@ -138,36 +140,45 @@ typedef struct
 
 /* Small Motor - 2214S024BXTR*/
 const static BLDCMotor_param_t FH_22mm24BXTR = {
-	.pwm_desc				 = &PWM_0,
-	.speedtimer_hw			= TC2,
-	.motor_Poles			 = 14,
-	.motor_polePairs		 = 7,
-	.motor_commutationStates = 42,			 //polePairs * 6
-	.motor_RS_Ohm			 = 25.9,
-	.motor_LD_H				 = 0.003150,
-	.motor_LQ_H				 = 0.003150,
-	.motor_Flux_WB			 = 0.001575,
-	.motor_Max_Spd_RPM		 = 3000,
-	.motor_MeasureRange_RPM	 = 3000 * 1.2,	//(1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
-	.motor_Max_Spd_ELEC		 = (3000/60)*7.0,		//(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
-	.motor_Max_Current_IDC_A = 0.368,
+	.pwm_desc				       = &PWM_0,
+	.speedtimer_hw			       = TC2,
+	.motor_Poles			       = 14,
+	.motor_polePairs		       = 7,
+	.motor_commutationStates       = 42,			 //polePairs * 6
+	.motor_RS_Ohm			       = 25.9,
+	.motor_LD_H				       = 0.003150,
+	.motor_LQ_H				       = 0.003150,
+	.motor_Flux_WB			       = 0.001575,
+	.motor_Max_Spd_RPM		       = 3000,
+	.motor_MeasureRange_RPM	       = 3000 * 1.2,	//(1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
+	.motor_Max_Spd_ELEC			   = (3000/60)*7.0,		//(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
+	.motor_Max_Current_IDC_A	   = 0.368,
+	.controller_param.Pid_Speed.Kp = 0.00008f,
+	.controller_param.Pid_Speed.Ki = 0.0000001f,
+	//.controller_param.Pid_Speed.Ki = 0.0000001f,
+	.controller_param.Pi_Pos.Kp	   = 50.0f,
+	.controller_param.Pi_Pos.Ki	   = 0.0f,
 };
 
 /* Big Motor - 3216W024BXTR */
 const static BLDCMotor_param_t FH_32mm24BXTR = {
-	.pwm_desc				 = &PWM_1,
-	.speedtimer_hw			 = TC4,
-	.motor_Poles			 = 14,
-	.motor_polePairs		 = 7,
-	.motor_commutationStates = 42,			 //polePairs * 6
-	.motor_RS_Ohm			 = 3.37,
-	.motor_LD_H				 = 0.001290,
-	.motor_LQ_H				 = 0.001290,
-	.motor_Flux_WB			 = 0.0063879968,
-	.motor_Max_Spd_RPM		 = 3000,
-	.motor_MeasureRange_RPM	 = 3200,		//(1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
-	.motor_Max_Spd_ELEC		 = 12000,		//(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
-	.motor_Max_Current_IDC_A = 1.0,
+	.pwm_desc					   = &PWM_1,
+	.speedtimer_hw				   = TC4,
+	.motor_Poles				   = 14,
+	.motor_polePairs			   = 7,
+	.motor_commutationStates	   = 42,			 //polePairs * 6
+	.motor_RS_Ohm				   = 3.37,
+	.motor_LD_H					   = 0.001290,
+	.motor_LQ_H					   = 0.001290,
+	.motor_Flux_WB				   = 0.0063879968,
+	.motor_Max_Spd_RPM			   = 3000,
+	.motor_MeasureRange_RPM		   = 3200,		//(1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
+	.motor_Max_Spd_ELEC			   = 12000,		//(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
+	.motor_Max_Current_IDC_A	   = 1.0,
+	.controller_param.Pid_Speed.Kp = 0.0002f,
+	.controller_param.Pid_Speed.Ki = 0.0000001f,
+	.controller_param.Pi_Pos.Kp	   = 40.0f,
+	.controller_param.Pi_Pos.Ki	   = 0.0f,
 };
 
 #endif /* MOTORPARAMETERS_H_ */
\ No newline at end of file