diff --git a/steer-pid.py b/steer-pid.py
index 2238045..279c2b2 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -101,14 +101,16 @@ for chunk in stream.iter_content(chunk_size=1024):
                     wi = 0
                     mri = 0.5
 
+                    v = 0.25
+
                     p = x
                     d = (x - xp) / dtms
                     i = mri * ip + x * dtms
 
                     k = wp * p + wi * i + wd * d
 
-                    motorL.start(min(100 - k, 100))
-                    motorR.start(min(100 - k, 100))
+                    motorL.start(-v * min(100 - k, 100))
+                    motorR.start(v * min(100 - k, 100))
                     xp = x
                     ip += i