diff --git a/Kinematics.cpp b/Kinematics.cpp
index 49bb64a..7e48f2a 100644
--- a/Kinematics.cpp
+++ b/Kinematics.cpp
@@ -132,5 +132,5 @@ Kinematics::velocities Kinematics::getVelocities(int motor1, int motor2, int mot
 int Kinematics::rpmToPWM(int rpm)
 {
   //remap scale of target RPM vs MAX_RPM to PWM
-  return (((double) rpm / (double) max_rpm_) * 255);
+  return (((double) rpm / (double) max_rpm_) * pwm_res_);
 }