diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index 4a07627c4..2451d8f42 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -167,17 +167,17 @@ static void update_pwm (int rc_x, int rc_y) {
         m.motor3_rpm_pcm = 0;
         m.motor4_rpm_pcm = y; 
     }
-    // DIAGONALLY FORWARD AND REVERSE
-    if ((x > 0) && (y > 0 && y < 500)) {
+    // DIAGONALLY FORWARD
+    if ((x > 7400) && (y > 7440)) {
         m.motor1_rpm_pcm = x;   // left, forward
-        m.motor2_rpm_pcm = x;   // right, forward
-        m.motor3_rpm_pcm = 0;
+        m.motor2_rpm_pcm = 0;   // right, forward
+        m.motor3_rpm_pcm = x;
         m.motor4_rpm_pcm = 0;
     }
     else if ((x < 0) && (y > 0 && y < 500)) {
         m.motor1_rpm_pcm = 0;
-        m.motor2_rpm_pcm = 0;
-        m.motor3_rpm_pcm = -x;
+        m.motor2_rpm_pcm = -x;
+        m.motor3_rpm_pcm = 0;
         m.motor4_rpm_pcm = -x;
     }
         else {