diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index 57ce865dd..c4e1481dc 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -74,8 +74,12 @@ static void rc_get_raw_data() {
         m.motor1_rpm_pcm = 0;
         m.motor2_rpm_pcm = 0;
     }
-    if (rescale_raw_val(adc_raw[0][0]) >= 4000)
+    if (rescale_raw_val(adc_raw[0][0]) >= 4000) {
         m.motor1_rpm_pcm = rescale_raw_val(adc_raw[0][0]);
+    }
+    else if (rescale_raw_val(adc_raw[0][0]) < 4000) {
+        m.motor1_rpm_pcm = -rescale_raw_val(adc_raw[0][0]);
+    }
     
     // Cut-off power if joystick is nearly center
     /*if (rescale_raw_val(adc_raw[0][0]) < 4000)