diff --git a/Cargo.lock b/Cargo.lock
index a0cc2cb..ca6f446 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1001,9 +1001,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-channel"
-version = "0.5.2"
+version = "0.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e54ea8bc3fb1ee042f5aace6e3c6e025d3874866da222930f70ce62aceba0bfa"
+checksum = "fdbfe11fe19ff083c48923cf179540e8cd0535903dc35e178a1fdeeb59aef51f"
 dependencies = [
  "cfg-if 1.0.0",
  "crossbeam-utils",
@@ -1022,10 +1022,11 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.7"
+version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c00d6d2ea26e8b151d99093005cb442fb9a37aeaca582a03ec70946f49ab5ed9"
+checksum = "1145cf131a2c6ba0615079ab6a638f7e1973ac9c2634fcbeaaad6114246efe8c"
 dependencies = [
+ "autocfg",
  "cfg-if 1.0.0",
  "crossbeam-utils",
  "lazy_static",
@@ -1035,9 +1036,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-queue"
-version = "0.3.4"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4dd435b205a4842da59efd07628f921c096bc1cc0a156835b4fa0bcb9a19bcce"
+checksum = "1f25d8400f4a7a5778f0e4e52384a48cbd9b5c495d110786187fc750075277a2"
 dependencies = [
  "cfg-if 1.0.0",
  "crossbeam-utils",
@@ -1045,9 +1046,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.7"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5e5bed1f1c269533fa816a0a5492b3545209a205ca1a54842be180eb63a16a6"
+checksum = "0bf124c720b7686e3c2663cf54062ab0f68a88af2fb6a030e87e30bf721fcb38"
 dependencies = [
  "cfg-if 1.0.0",
  "lazy_static",
@@ -1164,9 +1165,9 @@ dependencies = [
 
 [[package]]
 name = "erased-serde"
-version = "0.3.18"
+version = "0.3.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56047058e1ab118075ca22f9ecd737bcc961aa3566a3019cb71388afa280bd8a"
+checksum = "2df1bebfbf6d5e523e871439e5bd41d80a617b5a796cca0d616b9b30edf3c04d"
 dependencies = [
  "serde",
 ]
@@ -1589,9 +1590,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.119"
+version = "0.2.120"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1bf2e165bb3457c8e098ea76f3e3bc9db55f87aa90d52d0e6be741470916aaa4"
+checksum = "ad5c14e80759d0939d013e6ca49930e59fc53dd8e5009132f76240c179380c09"
 
 [[package]]
 name = "libloading"
@@ -2600,9 +2601,9 @@ checksum = "8fb1df15f412ee2e9dfc1c504260fa695c1c3f10fe9f4a6ee2d2184d7d6450e2"
 
 [[package]]
 name = "syn"
-version = "1.0.87"
+version = "1.0.88"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e59d925cf59d8151f25a3bedf97c9c157597c9df7324d32d68991cc399ed08b"
+checksum = "ebd69e719f31e88618baa1eaa6ee2de5c9a1c004f1e9ecdb58e8352a13f20a01"
 dependencies = [
  "proc-macro2",
  "quote",
diff --git a/src/action.rs b/src/action.rs
index 049a559..5bd309b 100644
--- a/src/action.rs
+++ b/src/action.rs
@@ -47,19 +47,23 @@ fn falling_cat_pid(
     let derivative = error - control_vars.previous;
     control_vars.previous = error;
 
-    let integral = (control_vars.sum * 0.6) + error;
+    let integral = (control_vars.sum * 0.8) + error;
     control_vars.sum = integral;
 
     let proportional = error;
 
-    let kp = 7.0;
-    let ki = 0.19;
-    let kd = 4.4;
+    let kp = 7.1;
+    let ki = 0.10;
+    let kd = 5.1;
     let mag = (kp * proportional) + (ki * integral) + (kd * derivative);
 
     let torque = xform.back() * mag;
 
-    forces.torque = torque.into();
+    if xform.forward().dot(up).abs() < 0.55 {
+        forces.torque = torque.into();
+    } else {
+        forces.torque = Vec3::ZERO.into();
+    }
 }
 
 fn drag(
diff --git a/src/bike.rs b/src/bike.rs
index 143abf3..13c9e4f 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -1,4 +1,4 @@
-use bevy::{prelude::*, utils::Instant};
+use bevy::prelude::*;
 use bevy_rapier3d::prelude::*;
 
 use crate::planet::PLANET_RADIUS;