diff --git a/lib/Chassis/src/chassis.cpp b/lib/Chassis/src/chassis.cpp
index fb0200b..6f57fc4 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 * CONTROL_LOOP_PERIOD_S);
+    rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM * CONTROL_LOOP_PERIOD_S);
 }
 
 /**
diff --git a/lib/Chassis/src/chassis.h b/lib/Chassis/src/chassis.h
index ddb109e..4f00c2f 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 CONTROL_LOOP_PERIOD_S = CONTROL_LOOP_PERIOD_MS / 1000.;
 
 protected:
     /**