diff --git a/config/control-config.yaml b/config/control-config.yaml
index 80bbe66d87876352396a2d3238f2f8625038b722..f1c9764d04ccdcdb87b19068092eeb99ddc2bb9b 100644
--- a/config/control-config.yaml
+++ b/config/control-config.yaml
@@ -2,10 +2,10 @@
   pid:
     ros__parameters:
         angular: true
-        clamp: 15.0
+        clamp: 175.0
         inverted: false
-        kd: 0.9
-        ki: 0.0
-        kp: 0.04
+        kd: 50000.0
+        ki: 1000000.0
+        kp: 9000.0
         start_type_description_service: true
         use_sim_time: false
diff --git a/lesson_06/step_1.py b/lesson_06/step_1.py
new file mode 100644
index 0000000000000000000000000000000000000000..d8d3861e8e761f93a4f397b249fd35ca160f5f9f
--- /dev/null
+++ b/lesson_06/step_1.py
@@ -0,0 +1,72 @@
+import rclpy
+from rclpy.node import Node
+
+from geometry_msgs.msg import Twist
+from geometry_msgs.msg import PoseStamped, Pose
+
+from std_msgs.msg import Float64
+
+from tf_transformations import euler_from_quaternion
+
+import math                                                                    
+
+def angle_diff(a1, a2):
+    a = a1-a2
+    return (a+math.pi)%(2*math.pi)-math.pi
+
+def get_yaw_from_quaternion(q):
+    return euler_from_quaternion([q.x, q.y, q.z, q.w])[2]
+
+
+class RurMover(Node):
+    def __init__(self):
+        super().__init__('controller')
+        self.publisher_twist = self.create_publisher(Twist, '/waterstrider/twist_command', 10)
+        self.pid_setpoint = self.create_publisher(Float64, '/waterstrider/pid/setpoint', 10)
+        self.pid_state = self.create_publisher(Float64, '/waterstrider/pid/state', 10, )
+        self.pid_output= self.create_subscription(Float64, '/waterstrider/pid/output', self.pid_output, 10)
+        self.pose_subscriber = self.create_subscription(PoseStamped, '/waterstrider/ground_truth_to_tf_waterstrider/pose', self.pose_callback, 10)
+        self.heading  = 0
+        self.n = 0
+        self.desired_heading = - math.pi / 2
+        self.SIDE_TIME = 10.0
+        self.LINEAR_SPEED = 1.0
+        self.timer = self.create_timer(self.SIDE_TIME, self.pub_timer_callback)
+
+    def pid_output(self, msg):
+        angle_spd = msg.data
+        msg_pub = Twist()
+        msg_pub.linear.x = self.LINEAR_SPEED
+        msg_pub.angular.z = math.radians(angle_spd)
+        self.get_logger().info(f'Turn speed: {angle_spd:.3f}')
+        self.publisher_twist.publish(msg_pub)
+
+    def pose_callback(self, msg):
+        self.heading = get_yaw_from_quaternion(msg.pose.orientation)+math.pi
+        self.get_logger().info('Current heading: "%f"' % self.heading)
+        self.get_logger().info('Setpoint: "%f"' % self.desired_heading)
+        self.diff = angle_diff(self.heading, self.desired_heading)
+        msg_pub = Float64()
+        msg_pub.data = self.diff
+        self.pid_state.publish(msg_pub)
+
+    def pub_timer_callback(self):
+        self.desired_heading += math.pi / 2
+        self.desired_heading %= 2 * math.pi
+        msg_pub = Float64()
+        msg_pub.data = 0.0
+        self.get_logger().info('New angle setpoint: "%f"' % self.desired_heading)
+        self.pid_setpoint.publish(msg_pub)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    mover = RurMover()
+
+    rclpy.spin(mover)
+
+    mover.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file