diff --git a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
index 64f85f3..d9e2b29 100644
--- a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
+++ b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
@@ -100,7 +100,7 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface {
   const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18;
 
   // Default gains
-  const std::vector<double> DEFAULT_KP = {80.0, 80.0, 20.0, 55.0,
+  const std::vector<double> DEFAULT_KP = {20.0, 20.0, 20.0, 20.0,
                                           5.0,  5.0,  5.0,  0.5};
   const std::vector<double> DEFAULT_KD = {2.75, 2.5, 0.7, 0.4,
                                           0.7,  0.6, 0.5, 0.1};
diff --git a/openarm_hardware/src/v10_simple_hardware.cpp b/openarm_hardware/src/v10_simple_hardware.cpp
index 944b094..bfe2cce 100644
--- a/openarm_hardware/src/v10_simple_hardware.cpp
+++ b/openarm_hardware/src/v10_simple_hardware.cpp
@@ -230,9 +230,8 @@ hardware_interface::return_type OpenArm_v10HW::read(
     const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
   // Receive all motor states
   openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::STATE);
+  openarm_->refresh_all();
   openarm_->recv_all();
-  std::this_thread::sleep_for(std::chrono::microseconds(300));
-  openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::IGNORE);
 
   // Read arm joint states
   const auto& arm_motors = openarm_->get_arm().get_motors();
@@ -272,9 +271,9 @@ hardware_interface::return_type OpenArm_v10HW::write(
   openarm_->get_arm().mit_control_all(arm_params);
   // Control gripper if enabled
   if (hand_ && joint_names_.size() > ARM_DOF) {
+    // TODO the mappings are unimplemented.
     // Convert joint value (0-1) to motor position (radians)
     double motor_command = joint_to_motor_radians(pos_commands_[ARM_DOF]);
-
     openarm_->get_gripper().mit_control_all({{5.0, 1.0, motor_command, 0, 0}});
   }
   std::this_thread::sleep_for(std::chrono::microseconds(300));