diff --git a/clearpath_control/config/w200/control.yaml b/clearpath_control/config/w200/control.yaml
index f21acbe7..23436c74 100644
--- a/clearpath_control/config/w200/control.yaml
+++ b/clearpath_control/config/w200/control.yaml
@@ -55,17 +55,35 @@ platform_velocity_controller:
     linear.x.has_jerk_limits: false
     linear.x.max_velocity: 5.0
     linear.x.min_velocity: -5.0
+<<<<<<< HEAD:clearpath_control/config/w200/control.yaml
     linear.x.max_acceleration: 50.0
     linear.x.min_acceleration: -50.0
     linear.x.max_jerk: 0.0
     linear.x.min_jerk: 0.0
+=======
+    linear.x.max_acceleration: 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
+>>>>>>> 156ba09 (Updated W200 acceleration parameters (#315)):clearpath_control/config/w200/control/diff_4wd.yaml
 
     angular.z.has_velocity_limits: true
     angular.z.has_acceleration_limits: true
     angular.z.has_jerk_limits: false
     angular.z.max_velocity: 4.0
     angular.z.min_velocity: -4.0
+<<<<<<< HEAD:clearpath_control/config/w200/control.yaml
     angular.z.max_acceleration: 40.0
     angular.z.min_acceleration: -40.0
     angular.z.max_jerk: 0.0
     angular.z.min_jerk: 0.0
+=======
+    angular.z.max_acceleration: 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
+>>>>>>> 156ba09 (Updated W200 acceleration parameters (#315)):clearpath_control/config/w200/control/diff_4wd.yaml