diff --git a/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py b/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
index addf22e..f431726 100644
--- a/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
+++ b/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
@@ -66,7 +66,7 @@ class ProgressActionClient(Node):
         # Parameters for optional position filtering
         self.declare_parameter('enable_filter', True)
         self.declare_parameter('filter_type', 'ema')
-        self.declare_parameter('ema_alpha', 0.2)
+        self.declare_parameter('ema_alpha', 0.5)
         self.declare_parameter('kalman_q', 1e-5)
         self.declare_parameter('kalman_r', 1e-2)
 
diff --git a/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py b/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
index fc5bfac..ac3f62e 100644
--- a/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
+++ b/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
@@ -63,7 +63,7 @@ class JointSensorNode(Node):
             js.position = angles
             self.publisher_.publish(js)
 
-            self.get_logger().info(f"Published JointState: ids=0x{msg.arbitration_id:X} names={names} positions={angles}")
+            self.get_logger().debug(f"Published JointState: ids=0x{msg.arbitration_id:X} names={names} positions={angles}")
         except Exception as e:
             self.get_logger().error(f"Error handling CAN msg: {e}")