diff --git a/src/move.py b/src/move.py
index 799eb8e..24851e9 100644
--- a/src/move.py
+++ b/src/move.py
@@ -5,6 +5,15 @@ from sensor import Sensor
 from odometry import Odometry
 
 
+def capat100(value):
+    if(value > 100):
+        return 100
+    elif(value < -100):
+        return -100
+    else:
+        return value
+
+
 class Move:
     def __init__(self):
         try:
@@ -79,8 +88,8 @@ class Move:
 
         while (self._sensor.bumperispressed() is not True and self._sensor.lastcolor is None):
             self._camera.refresh()
-            self._wheel_l.speed_set(self.maxbrightness//2 - self._sensor.getbrightness()//2)
-            self._wheel_r.speed_set(self._sensor.getbrightness()//2)
+            self._wheel_l.speed_set(capat100(self.maxbrightness/2 - self._sensor.getbrightness()/2))
+            self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2))
             self._sensor.getcolor()
             if(not isknownstation):
                 print(self._odometry.degree(self._wheel_l.getmovement(), self._wheel_r.getmovement(), 0))