diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
index 4efa5c5..0323d1d 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
+++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
@@ -521,7 +521,7 @@ class GamepadManager : public InputInterface {
         // Remap rx_ so dead zone edge = 0, full stick = 1
         double rx_sign = (rx_ > 0) ? 1.0 : -1.0;
         double rx_remapped = std::max(0.0, (std::abs(rx_) - dead_zone_) / (1.0 - dead_zone_)) * rx_sign;
-        planner_facing_angle_ = planner_facing_angle_ - 0.004 * rx_remapped;  // ~45°/s max at full stick
+        planner_facing_angle_ = planner_facing_angle_ - 0.008 * rx_remapped;  // 45°/s max at full stick (100Hz input loop)
         if constexpr (DEBUG_LOGGING) {
           std::cout << "[GamepadManager DEBUG] Right stick - Facing angle: " << planner_facing_angle_ << " rad" << std::endl;
         }
@@ -712,7 +712,7 @@ class GamepadManager : public InputInterface {
           double normalized = std::min((planner_stick_magnitude_ - dead_zone_) / (1.0 - dead_zone_), 1.0);
           double target_speed = normalized * 0.8;  // 0.0 at dead zone edge, 0.8 at full stick
           // Rate-limit acceleration only (decel is instant)
-          constexpr double max_accel_per_frame = 0.001;  // ~4s ramp 0→0.8 at 200Hz
+          constexpr double max_accel_per_frame = 0.002;  // 4s ramp 0→0.8 (100Hz input loop)
           if (target_speed > smoothed_speed_) {
             smoothed_speed_ = std::min(target_speed, smoothed_speed_ + max_accel_per_frame);
           } else {