diff --git a/Cargo.lock b/Cargo.lock
index 9db6f06..f40d17d 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -22,7 +22,7 @@ dependencies = [
 
 [[package]]
 name = "rnavp"
-version = "0.2.1"
+version = "0.2.2"
 dependencies = [
  "serde",
 ]
diff --git a/Cargo.toml b/Cargo.toml
index aab01b3..de19f76 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rnavp"
-version = "0.2.1"
+version = "0.2.2"
 edition = "2024"
 publish = ["gitea"]
 
diff --git a/src/core/logic/motor.rs b/src/core/logic/motor.rs
index 81a98a1..52124a1 100644
--- a/src/core/logic/motor.rs
+++ b/src/core/logic/motor.rs
@@ -40,11 +40,11 @@ impl<T: motor::Driver + motor::Sensor> Controller<T> {
             .set_speed_and_direction(motor_command, self.current_direction);
     }
 
-    pub fn new(motor: T, max_speed: Speed, pid: pid::PID) -> Self {
+    pub fn new(motor: T, max_speed: Speed, config: pid::Config) -> Self {
         Controller {
             motor: motor,
             max_speed: max_speed,
-            pid: pid,
+            pid: pid::PID::new(config),
             current_direction: Direction::CCW,
         }
     }