diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index c15804a..2321746 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -93,15 +93,17 @@ class motion:
         turn *=100
         leftSpeed = speed - turn
         rightSpeed = speed + turn
-        if leftSpeed>100: leftSpeed=100
-        elif leftSpeed<-100: leftSpeed= -100
-        if rightSpeed>100: rightSpeed=100
-        elif rightSpeed<-100: rightSpeed= -100
-        if speed>100: speed=100
-        elif speed<-100: speed= -100
+        if leftSpeed>990: leftSpeed=990
+        elif leftSpeed<-990: leftSpeed= -990
+        if rightSpeed>990: rightSpeed=990
+        elif rightSpeed<-990: rightSpeed= -990
+        if speed>990: speed=990
+        elif speed<-990: speed= -990
 
-        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_FL_F, MOTOR_FL_R, abs(leftSpeed/10))
+        self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed/10))
+        self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed/10)
+        self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed/10)