diff --git a/diffbot_base/scripts/base_controller/lib/config/diffbot_base_config.h b/diffbot_base/scripts/base_controller/lib/config/diffbot_base_config.h
index 3661cef7..2856b69d 100644
--- a/diffbot_base/scripts/base_controller/lib/config/diffbot_base_config.h
+++ b/diffbot_base/scripts/base_controller/lib/config/diffbot_base_config.h
@@ -5,7 +5,7 @@
 #define ENCODER_LEFT_H2 6
 // Encoder resolution used for initialization 
 // will be read from parameter server
-#define ENCODER_RESOLUTION 542
+#define ENCODER_RESOLUTION 80
 
 #define ENCODER_RIGHT_H1 7
 #define ENCODER_RIGHT_H2 8
diff --git a/diffbot_base/scripts/base_controller/platformio.ini b/diffbot_base/scripts/base_controller/platformio.ini
index f80398b8..dde35633 100644
--- a/diffbot_base/scripts/base_controller/platformio.ini
+++ b/diffbot_base/scripts/base_controller/platformio.ini
@@ -13,7 +13,7 @@ default_envs = teensy31
 
 [env:teensy31]
 platform = teensy
-board = teensy31
+board = teensy40
 framework = arduino
 lib_deps = 
     frankjoshua/Rosserial Arduino Library@^0.9.1