diff --git a/pr2_calibration_controllers/include/pr2_calibration_controllers/joint_calibration_controller.h b/pr2_calibration_controllers/include/pr2_calibration_controllers/joint_calibration_controller.h
index abcf3e1..89ea5db 100755
--- a/pr2_calibration_controllers/include/pr2_calibration_controllers/joint_calibration_controller.h
+++ b/pr2_calibration_controllers/include/pr2_calibration_controllers/joint_calibration_controller.h
@@ -74,6 +74,7 @@ class JointCalibrationController : public pr2_controller_interface::Controller
   int state_;
   bool announced_calibration_success_;
   int countdown_;
+  int tics_moving_past_calibration_reading_;
 
   double search_velocity_;
   double original_position_;
diff --git a/pr2_calibration_controllers/src/joint_calibration_controller.cpp b/pr2_calibration_controllers/src/joint_calibration_controller.cpp
index 6e0951b..5d42be5 100755
--- a/pr2_calibration_controllers/src/joint_calibration_controller.cpp
+++ b/pr2_calibration_controllers/src/joint_calibration_controller.cpp
@@ -90,6 +90,9 @@ bool JointCalibrationController::init(pr2_mechanism_model::RobotState *robot, ro
     return false;
   }
 
+  tics_moving_past_calibration_reading_ = 200;
+  node_.getParam("tics_moving_past_calibration_reading", tics_moving_past_calibration_reading_);
+
   bool force_calibration = false;
   node_.getParam("force_calibration", force_calibration);
 
@@ -227,7 +230,7 @@ void JointCalibrationController::update()
       }
     }
     else
-      countdown_ = 200;
+      countdown_ = tics_moving_past_calibration_reading_;
     break;
   case MOVING_TO_HIGH: {
     vc_.setCommand(search_velocity_);