diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index dd9af3acea864e7b73af67b57f2d06e89c0e708d..35648137c45521209a7e38840f397f4ecfd01613 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -908,8 +908,8 @@ namespace darwin_controller
       ram_write_byte(DARWIN_STAIRS_Z_OVERSHOOT,(unsigned char)(req.params.Z_OVERSHOOT*1000.0));
       ram_write_byte(DARWIN_STAIRS_Z_HEIGHT,(unsigned char)(req.params.Z_HEIGHT*1000.0));
       ram_write_word(DARWIN_STAIRS_HIP_PITCH_OFF_L,(unsigned short int)((req.params.HIP_PITCH_OFFSET*180.0/PI)*1024.0));
-      ram_write_byte(DARWIN_STAIRS_R_SHIFT,(unsigned char)((req.params.R_SHIFT*180/PI)*8.0));
-      ram_write_byte(DARWIN_STAIRS_P_SHIFT,(unsigned char)((req.params.P_SHIFT*180/PI)*8.0));
+      ram_write_byte(DARWIN_STAIRS_R_SHIFT,(unsigned char)((req.params.R_SHIFT*180/PI)*4.0));
+      ram_write_byte(DARWIN_STAIRS_P_SHIFT,(unsigned char)((req.params.P_SHIFT*180/PI)*4.0));
       ram_write_byte(DARWIN_STAIRS_A_SHIFT,(unsigned char)((req.params.A_SHIFT*180/PI)*4.0));
       ram_write_byte(DARWIN_STAIRS_Y_SPREAD,(unsigned char)(req.params.Y_SPREAD*1000.0));
       ram_write_byte(DARWIN_STAIRS_X_SHIFT_BODY,(unsigned char)(req.params.X_SHIFT_BODY*1000.0));
@@ -969,9 +969,9 @@ namespace darwin_controller
       ram_read_word(DARWIN_STAIRS_HIP_PITCH_OFF_L,&word_value);
       res.params.HIP_PITCH_OFFSET=(((double)word_value)*PI/180.0)/1024.0;
       ram_read_byte(DARWIN_STAIRS_R_SHIFT,&byte_value);
-      res.params.R_SHIFT=((double)byte_value)*PI/1440.0;
+      res.params.R_SHIFT=((double)byte_value)*PI/720.0;
       ram_read_byte(DARWIN_STAIRS_P_SHIFT,&byte_value);
-      res.params.P_SHIFT=((double)byte_value)*PI/1440.0;
+      res.params.P_SHIFT=((double)byte_value)*PI/720.0;
       ram_read_byte(DARWIN_STAIRS_A_SHIFT,&byte_value);
       res.params.A_SHIFT=((double)byte_value)*PI/720.0;
       ram_read_byte(DARWIN_STAIRS_Y_SPREAD,&byte_value);