diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index db951e9..f3e5e9a 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -87,7 +87,8 @@ class motion:
         self.motor_write(MOTOR_FR_F, MOTOR_FR_R, rm_speed)
         self.motor_write(MOTOR_RL_F, MOTOR_RL_R, lm_speed)
         self.motor_write(MOTOR_RR_F, MOTOR_RR_R, rm_speed)
-        
+
+    '''    
     def skt_drive(self, speed: float, turn: float, t=0):
         speed *=100
         turn *=100
@@ -115,6 +116,24 @@ class motion:
             self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed))
             self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
             self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
+    '''
+
+    def skt_drive(self, speed: float, turn: float, t=0):
+        speed *=100
+        turn *=100
+        leftSpeed = speed - turn
+        rightSpeed = speed + turn
+        if leftSpeed>99: leftSpeed=99
+        elif leftSpeed<-99: leftSpeed= -99
+        if rightSpeed>99: rightSpeed=99
+        elif rightSpeed<-99: rightSpeed= -99
+        if speed>99: speed=99
+        elif speed<-99: speed= -99
+
+        self.motor_write(MOTOR_FL_F, MOTOR_FL_R, abs(leftSpeed))
+        self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed))
+        ##self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
+        ##self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)