Modified the balance joint gains.

controllers/include/cm510_cfg.h

@@ -33,9 +33,9 @@
 #define BALANCE_MAX_CAL_GYRO_ERROR              20.0
 #define BALANCE_FORWARD_FALL_THD_VALUE          200
 #define BALANCE_BACKWARD_FALL_THD_VALUE         (-200)
-#define BALANCE_KNEE_GAIN                       (2.0/54.0)
-#define BALANCE_ANKLE_PITCH_GAIN                (2.0/18.0)
-#define BALANCE_ANKLE_ROLL_GAIN                 (2.0/20.0)
-#define BALANCE_HIP_ROLL_GAIN                   (2.0/40.0)
+#define BALANCE_KNEE_GAIN                       (4.0/54.0)
+#define BALANCE_ANKLE_PITCH_GAIN                (4.0/18.0)
+#define BALANCE_ANKLE_ROLL_GAIN                 (4.0/20.0)
+#define BALANCE_HIP_ROLL_GAIN                   (4.0/40.0)
 
 #endif