diff --git a/control/walle.py b/control/walle.py
index 837a0f9..6dc5bc2 100644
--- a/control/walle.py
+++ b/control/walle.py
@@ -46,12 +46,12 @@ class WallE:
                 velocity_l = sin_angle * force
             elif cos_angle < sin_angle:
                 velocity_r = sin_angle * force
-                velocity_l = cos_angle * force
+                velocity_l = (1 - 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 - cos_angle) * force
                 velocity_l = sin_angle * force
-            elif cos_angle > sin_angle:
+            elif abs(cos_angle) > sin_angle:
                 velocity_r = sin_angle * force
                 velocity_l = cos_angle * force
         else: