diff --git a/control/walle.py b/control/walle.py
index 63a139e..837a0f9 100644
--- a/control/walle.py
+++ b/control/walle.py
@@ -49,7 +49,7 @@ class WallE:
                 velocity_l = cos_angle * force
         elif cos_angle < 0 and sin_angle > 0:
             if abs(cos_angle) < sin_angle:
-                velocity_r = 1 - sin_angle * force
+                velocity_r = (1 - sin_angle) * force
                 velocity_l = sin_angle * force
             elif cos_angle > sin_angle:
                 velocity_r = sin_angle * force