diff --git a/main controller code/.vscode/settings.json b/main controller code/.vscode/settings.json
index cc4668b..8c27341 100644
--- a/main controller code/.vscode/settings.json	
+++ b/main controller code/.vscode/settings.json	
@@ -6,6 +6,7 @@
         "stdlib.h": "c",
         "stdint.h": "c",
         "gyro.h": "c",
-        "motors.h": "c"
+        "motors.h": "c",
+        "motion_control.h": "c"
     }
 }
\ No newline at end of file
diff --git a/main controller code/src/motion_control.c b/main controller code/src/motion_control.c
index c0f1fd3..04e0e8a 100644
--- a/main controller code/src/motion_control.c	
+++ b/main controller code/src/motion_control.c	
@@ -13,7 +13,7 @@ void i2c_update_motion_control(void)
     //  - we calculate the error of the targeted angle and the actual angle
     //  - then we calculate motors speed from targeted speed, the error and the offset
 
-    float actual_angle = robot.gyro_data.x_angle;
+    float actual_angle = robot.gyro_data.x_angle - 45; // Substracte 45* because robot is not aligned with it's moving base
     float target_angle = (float)robot.motion_control_data.angle;
 
     float error = target_angle - actual_angle;