diff --git a/src/driveModi/Modi/ManualControl/manualControl.cpp b/src/driveModi/Modi/ManualControl/manualControl.cpp
index bae63a4..8a34db1 100644
--- a/src/driveModi/Modi/ManualControl/manualControl.cpp
+++ b/src/driveModi/Modi/ManualControl/manualControl.cpp
@@ -31,12 +31,18 @@ void ManualControl::loop() {
 }
 
 void ManualControl::runManualControl() {
-    int8_t x = this->input->x;
-    int8_t y = this->input->y;
+    // Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
+    int16_t y = this->input->x - 127;
+    int16_t x = this->input->y - 127;
+
+    // if (x || y) {
+    //     std::cout << "x: " << (int) this->input->x << " y: " << (int) this->input->y << std::endl;
+    //     std::cout << "x: " << (int) x << " y: " << (int) y << std::endl;
+    // }
 
     double value_per_step = this->max_speed * 2 / 256;
-    this->moveControl->setSpeed((y * -1) * value_per_step);
+    this->moveControl->setSpeed(-y * value_per_step);
 
     value_per_step = this->max_rotation * 2 / 256;
-    this->moveControl->setRotationSpeed(-x * value_per_step);
+    this->moveControl->setRotationSpeed(x * value_per_step);
 }
diff --git a/src/driveModi/Modi/TestMode/testMode.cpp b/src/driveModi/Modi/TestMode/testMode.cpp
index 4a44f31..86480c1 100644
--- a/src/driveModi/Modi/TestMode/testMode.cpp
+++ b/src/driveModi/Modi/TestMode/testMode.cpp
@@ -79,7 +79,7 @@ bool TestMode::drive(int16_t cm, int16_t degree) {
         else if (cm > 0)
             this->moveControl->setSpeed(this->speed);
         
-        this->maneuverTime = (uint32_t) (((double) cm / 100.0) / this->speed) * 1000;
+        this->maneuverTime = (uint32_t) (((double) abs(cm) / 100.0) / this->speed) * 1000;
         this->busy = true;
         this->maneuver = Maneuver::Drive;
         return true;