diff --git a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
index 9bdfdb3..afdb82a 100644
--- a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
+++ b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
@@ -125,6 +125,11 @@ protected:
 
             sumError += error; 
 
+            float maxSumError = maxEffort/Ki;
+
+            sumError = max(sumError, -maxSumError);
+            sumError = min(sumError, maxSumError);
+
             float errorDiff = error - prevError;
 
             prevError = error;