diff --git a/steer-pid.py b/steer-pid.py
index adb5e16..b2cf197 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -100,14 +100,14 @@ for chunk in stream.iter_content(chunk_size=1024):
 
                     v = 0.25
 
-                    p = x
+                    p = -x
                     d = (x - xp) / dtms
                     i = mri * ip + x * dtms
 
                     k = wp * p + wi * i + wd * d
 
-                    motorL.start(-v * min(100 + k, 100))
-                    motorR.start(v * min(100 + k, 100))
+                    motorL.start(-v * min(100 - k, 100))
+                    motorR.start(v * min(100 - k, 100))
                     xp = x
                     ip += i