diff --git a/lib/Chassis/src/chassis.cpp b/lib/Chassis/src/chassis.cpp
index fb0200b..0739b8a 100644
--- a/lib/Chassis/src/chassis.cpp
+++ b/lib/Chassis/src/chassis.cpp
@@ -117,8 +117,8 @@ void Chassis::UpdateMotors(void)
  */
 void Chassis::SetWheelSpeeds(float leftSpeedCMperSec, float rightSpeedCMperSec)
 {
-    leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM);
-    rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM);
+    leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM * SECONDS_PER_CONTROL_LOOP);
+    rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM * SECONDS_PER_CONTROL_LOOP);
 }
 
 /**
diff --git a/lib/Chassis/src/chassis.h b/lib/Chassis/src/chassis.h
index ddb109e..c6b481a 100644
--- a/lib/Chassis/src/chassis.h
+++ b/lib/Chassis/src/chassis.h
@@ -19,6 +19,7 @@ protected:
      * avoid rounding errors.
      */
     const uint16_t CONTROL_LOOP_PERIOD_MS = 20;
+    const float SECONDS_PER_CONTROL_LOOP = 1. / CONTROL_LOOP_PERIOD_MS;
 
 protected:
     /**