diff --git a/ros/ieee2015_robot/config/robot_control_config.yaml b/ros/ieee2015_robot/config/robot_control_config.yaml
index 4936ad4..05f81e1 100644
--- a/ros/ieee2015_robot/config/robot_control_config.yaml
+++ b/ros/ieee2015_robot/config/robot_control_config.yaml
@@ -12,8 +12,8 @@ robot:
   joint2_position_controller:
     type: effort_controllers/JointPositionController
     joint: ArmRot1Rev
-    pid: {p: 100.0, i: 0.01, d: 10.0}
+    pid: {p: 19000.0, i: 50, d: 100}
   joint3_position_controller:
     type: effort_controllers/JointPositionController
     joint: ArmRot2Rev
-    pid: {p: 100.0, i: 0.01, d: 10.0}
\ No newline at end of file
+    pid: {p: 19000.0, i: 50, d: 100}
diff --git a/ros/robot_control/config/config.yaml b/ros/robot_control/config/config.yaml
deleted file mode 100644
index 05f81e1..0000000
--- a/ros/robot_control/config/config.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-robot:
-  # Publish all joint states -----------------------------------
-  joint_state_controller:
-    type: joint_state_controller/JointStateController
-    publish_rate: 50  
-
-  # Position Controllers ---------------------------------------
-  joint1_position_controller:
-    type: effort_controllers/JointPositionController
-    joint: ArmYRotCont
-    pid: {p: 100.0, i: 0.01, d: 10.0}
-  joint2_position_controller:
-    type: effort_controllers/JointPositionController
-    joint: ArmRot1Rev
-    pid: {p: 19000.0, i: 50, d: 100}
-  joint3_position_controller:
-    type: effort_controllers/JointPositionController
-    joint: ArmRot2Rev
-    pid: {p: 19000.0, i: 50, d: 100}