diff --git a/sdk b/sdk
index 4f33055..40531be 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 4f33055c7ff0d353006f4ab10d497fbd978b6bf9
+Subproject commit 40531be4a6a1d8479adeaaa83fee988224d4f393
diff --git a/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp b/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
index ea45658..7b13f56 100644
--- a/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
+++ b/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
@@ -84,26 +84,27 @@ void Subboard10Hbot::initialize() {
 
   static XYRobotCtrlModule::config_t xy_defaultcfg;
   XYRobotCtrlModule::create_default_cfg(xy_defaultcfg);
-  xy_defaultcfg.configInited       = true;
-  xy_defaultcfg.robot_type = 1;
+  xy_defaultcfg.configInited = true;
+  xy_defaultcfg.robot_type   = 1;
 
   xy_defaultcfg.robot_type     = XYRobotCtrlModule::khbot;
   xy_defaultcfg.x_shaft        = 0;
   xy_defaultcfg.y_shaft        = 1;
-  xy_defaultcfg.ihold          = 1;
-  xy_defaultcfg.irun           = 16;
+  xy_defaultcfg.ihold          = 3;
+  xy_defaultcfg.irun           = 20;
   xy_defaultcfg.iholddelay     = 100;
   xy_defaultcfg.distance_scale = 7344;
   xy_defaultcfg.shift_x        = 0;
   xy_defaultcfg.shift_y        = 0;
 
   // limit
-  xy_defaultcfg.acc      = 800;
-  xy_defaultcfg.dec      = 800;
-  xy_defaultcfg.min_x    = 0;
-  xy_defaultcfg.max_x    = 0;
-  xy_defaultcfg.min_y    = 0;
-  xy_defaultcfg.max_y    = 0;
+  xy_defaultcfg.acc              = 400;
+  xy_defaultcfg.dec              = 400;
+  xy_defaultcfg.min_x            = 0;
+  xy_defaultcfg.max_x            = 0;
+  xy_defaultcfg.min_y            = 0;
+  xy_defaultcfg.max_y            = 0;
+  xy_defaultcfg.default_velocity = 300;
 
   xy_defaultcfg.run_to_zero_speed    = 80;
   xy_defaultcfg.look_zero_edge_speed = 10;