diff --git a/steer-pid.py b/steer-pid.py
index c970695..86abbea 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -105,8 +105,8 @@ for chunk in stream.iter_content(chunk_size=1024):
 
                     k = wp * p + wi * i + wd * d
 
-                    speedL = max(0, -v * min(100 + k, 100))
-                    speedR = max(0, v * min(100 - k, 100))
+                    speedL = max(-100, -v * min(100 + k, 100))
+                    speedR = max(-100, v * min(100 - k, 100))
                     motorL.start(speedL)
                     motorR.start(speedR)
                     xp = x