diff --git a/lib/Chassis/src/chassis.cpp b/lib/Chassis/src/chassis.cpp
index a9fcbe8..ba1d62f 100644
--- a/lib/Chassis/src/chassis.cpp
+++ b/lib/Chassis/src/chassis.cpp
@@ -116,11 +116,8 @@ void Chassis::UpdateMotors(void)
  */
 void Chassis::SetWheelSpeeds(float leftSpeedCMperSec, float rightSpeedCMperSec)
 {
-    /** 
-     * TODO: Add code to convert cm/sec -> encoder ticks/control interval
-     */
-    leftMotor.SetTargetSpeed(leftSpeedCMperSec);
-    rightMotor.SetTargetSpeed(rightSpeedCMperSec);
+    leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM);
+    rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM);
 }
 
 /**