diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index 275c94b..695752f 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -563,10 +563,10 @@ void calculateSetSpeed(unsigned long timediff){
 
 
 
-  if (control_buttonA && !control_buttonB && !reverse_enabled && throttle_pos<=0) { //Right button (A) only. and throttle touched
+  if (control_buttonA && !control_buttonB && !reverse_enabled && throttle_pos>0) { //Right button (A) only. and throttle touched
     tanksteering_differential+=tanksteering_rate_increase*(timediff/1000.0);
     tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
-  }else if(control_buttonB && !control_buttonA && !reverse_enabled && throttle_pos<=0) { //Left button (B) only. and throttle touched
+  }else if(control_buttonB && !control_buttonA && !reverse_enabled && throttle_pos>0) { //Left button (B) only. and throttle touched
     tanksteering_differential-=tanksteering_rate_increase*(timediff/1000.0);
     tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1    
   }else{ //buttons released