diff --git a/src/bike.rs b/src/bike.rs
index 5fcc3a6..0cbe3a3 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -1,3 +1,5 @@
+use std::fmt::Debug;
+
 use bevy::prelude::*;
 use bevy_rapier3d::{
     geometry::Group,
@@ -27,6 +29,32 @@ pub struct CyberBikeControl {
     pub prev_error: f32,
 }
 
+#[derive(Resource, Reflect)]
+#[reflect(Resource)]
+pub struct WheelConfig {
+    pub front_forward: f32,
+    pub front_stance: f32,
+    pub rear_back: f32,
+    pub y: f32,
+    pub limits: [f32; 2],
+    pub stiffness: f32,
+    pub damping: f32,
+}
+
+impl Default for WheelConfig {
+    fn default() -> Self {
+        Self {
+            front_forward: 0.9,
+            front_stance: 1.2,
+            rear_back: 1.1,
+            y: -1.0,
+            limits: [0.1, 1.0],
+            stiffness: 10.0,
+            damping: 0.7,
+        }
+    }
+}
+
 const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
 const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
 
@@ -117,7 +145,7 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
         let trans = xform.translation + offset;
         let wheel_pos_in_world = Transform::from_rotation(xform.rotation).with_translation(trans);
         let wheel_damping = Damping {
-            angular_damping: 0.8,
+            linear_damping: 0.8,
             ..Default::default()
         };
         let wheel_collider = Collider::ball(wheel_rad);
@@ -149,6 +177,8 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
 pub struct CyberBikePlugin;
 impl Plugin for CyberBikePlugin {
     fn build(&self, app: &mut App) {
-        app.add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
+        app.insert_resource(WheelConfig::default())
+            .register_type::<WheelConfig>()
+            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
     }
 }