diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
index 3d0f45b77..86c7d3a74 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
@@ -25,7 +25,7 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScal
 	:btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true),
 	m_desiredVelocity(desiredVelocity),
 	m_desiredPosition(0),
-	m_kd(0.1),
+	m_kd(1.),
 	m_kp(0)
 {
 
@@ -56,7 +56,7 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int li
 	:btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true),
 	m_desiredVelocity(desiredVelocity),
 	m_desiredPosition(0),
-	m_kd(0.1),
+	m_kd(1.),
 	m_kp(0)
 {
 	btAssert(linkDoF < body->getLink(link).m_dofCount);
@@ -125,13 +125,7 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
         btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
         btScalar positionStabiliationTerm = (m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
         btScalar velocityError = (m_desiredVelocity - currentVelocity);
-        btScalar rhs =   m_kp * positionStabiliationTerm + m_kd * velocityError;
-        printf("m_kd = %f\n", m_kd);
-        printf("m_kp = %f\n", m_kp);
-        printf("m_desiredVelocity = %f\n", m_desiredVelocity);
-        printf("m_desiredPosition = %f\n", m_desiredPosition);
-        printf("m_maxAppliedImpulse = %f\n", m_maxAppliedImpulse);
-        printf("rhs = %f\n", rhs);
+        btScalar rhs =   m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError;
         
         
 		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,rhs);
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
index e433515d4..a8bcf606c 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
@@ -45,13 +45,13 @@ public:
 		btMultiBodyJacobianData& data,
 		const btContactSolverInfo& infoGlobal);
 
-    virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 0.1f)
+    virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f)
     {
         m_desiredVelocity = velTarget;
         m_kd = kd;
     }
 
-    virtual void setPositionTarget(btScalar posTarget, btScalar kp = 0.1f)
+    virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f)
     {
         m_desiredPosition = posTarget;
         m_kp = kp;