diff --git a/src/motors_movement/drivecontroller.cpp b/src/motors_movement/drivecontroller.cpp
index 45df50e..e1a25bb 100644
--- a/src/motors_movement/drivecontroller.cpp
+++ b/src/motors_movement/drivecontroller.cpp
@@ -85,8 +85,8 @@ void DriveController::drive(int dir, int speed, int tilt){
 
     speed1 = ((vx * sins[m1->angle] ) + (vy * cosins[m1->angle] ));
     speed2 = ((vx * sins[m2->angle]) + (vy * cosins[m2->angle]));
-    speed3 = -(speed1);
-    speed4 = -(speed2);
+    speed3 = ((vx * sins[m3->angle]) + (vy * cosins[m3->angle]));
+    speed4 = ((vx * sins[m4->angle]) + (vy * cosins[m4->angle]));
 
     // Calculate position error relative to the 0
     delta = CURRENT_DATA_READ.IMUAngle;
diff --git a/src/sensors/sensors.cpp b/src/sensors/sensors.cpp
index a89c522..88a52a0 100644
--- a/src/sensors/sensors.cpp
+++ b/src/sensors/sensors.cpp
@@ -9,8 +9,8 @@ void initSensors(){
     pinMode(LED_Y, OUTPUT);
     pinMode(LED_G, OUTPUT);
   
-    drive = new DriveController(new Motor(12, 11, 4, 55), new  Motor(25, 24, 5, 135), new Motor(27, 26, 2, 225), new Motor(29, 28, 3, 305));
-    //drive = new DriveController(new Motor(12, 11, 2, 45),new  Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
+    drive = new DriveController(new Motor(11, 12, 4, 55), new  Motor(24, 25, 5, 135), new Motor(26, 27, 2, 225), new Motor(28, 29, 3, 305));
+        //drive = new DriveController(new Motor(12, 11, 2, 45),new  Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
     compass = new DataSourceBNO055();
     ball = new DataSourceBall(&Serial2, 57600);
     //ball = new DataSourceBall(&Serial4, 57600);