diff --git a/main controller code/src/motion_control.c b/main controller code/src/motion_control.c
index 0d00ccd..7ea6e1c 100644
--- a/main controller code/src/motion_control.c	
+++ b/main controller code/src/motion_control.c	
@@ -29,6 +29,9 @@ void i2c_update_motion_control(void)
     float target_angle_radian = target_angle / 180.0f * M_PI;
 
     float error = target_angle - actual_angle;
+    if(error > 180) error -= 360;
+    if(error < -180) error += 360;
+
     float correction = error * GAIN_KD;
 
     float target_x_axis_speed = cosf(target_angle_radian) * robot.motion_control_data.x_axis_speed +