diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index e6cd4da..ba66708 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -100,10 +100,21 @@ class motion:
         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)
+        if (rightSpeed - leftSpeed) > 0:     
+            self.motor_write(MOTOR_FL_F, MOTOR_FL_R, -1*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)
+        elif (rightSpeed - leftSpeed) < 0:
+            self.motor_write(MOTOR_FL_F, MOTOR_FL_R, abs(leftSpeed))
+            self.motor_write(MOTOR_FR_F, MOTOR_FR_R, -1*abs(rightSpeed))
+            self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
+            self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
+        else:
+            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)