diff --git a/controller/src/main.rs b/controller/src/main.rs
index 3176aaa..07d3502 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -250,8 +250,8 @@ async fn main(spawner: Spawner) {
                         info!("left to {}", clamp(forward+right, -1., 1.));
                         info!("right to {}", clamp(forward-right, -1., 1.));
 
-                        c.compare_a = calc_speed(forward - right);
-                        c.compare_b = calc_speed(forward + right);
+                        c.compare_a = calc_speed(-forward - right);
+                        c.compare_b = calc_speed(-forward + right);
                         drive_pwm.set_config(&c);
                     },
                     ControlPacket::Fire => {