diff --git a/clearpath_control/config/w200/control/diff_4wd.yaml b/clearpath_control/config/w200/control/diff_4wd.yaml
index 9ec3ef48..6a5c2065 100644
--- a/clearpath_control/config/w200/control/diff_4wd.yaml
+++ b/clearpath_control/config/w200/control/diff_4wd.yaml
@@ -52,13 +52,17 @@ platform_velocity_controller:
     linear.x.max_velocity: 5.0
     linear.x.min_velocity: -5.0
     linear.x.max_acceleration: 2.5
-    linear.x.max_deceleration: -2.5
+    linear.x.max_deceleration: -10.0
+    linear.x.max_acceleration_reverse: -2.5
+    linear.x.max_deceleration_reverse: 10.0
     linear.x.max_jerk: .NAN
     linear.x.min_jerk: .NAN
 
     angular.z.max_velocity: 4.0
     angular.z.min_velocity: -4.0
     angular.z.max_acceleration: 2.0
-    angular.z.max_deceleration: -2.0
+    angular.z.max_deceleration: -8.0
+    angular.z.max_acceleration_reverse: -2.0
+    angular.z.max_deceleration_reverse: 8.0
     angular.z.max_jerk: .NAN
     angular.z.min_jerk: .NAN