diff --git a/mg_control/src/mg_control.cpp b/mg_control/src/mg_control.cpp
index b62b16b..26ef4e7 100644
--- a/mg_control/src/mg_control.cpp
+++ b/mg_control/src/mg_control.cpp
@@ -69,8 +69,8 @@ hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time
     std::string cmd_left;
     std::string cmd_right;
 
-    cmd_left  = std::to_string(left_wheel_vel_cmd / 2 * M_PI) + " ";
-    cmd_right = std::to_string(-right_wheel_vel_cmd / 2 * M_PI);
+    cmd_left  = std::to_string(left_wheel_vel_cmd / (2 * M_PI)) + " ";
+    cmd_right = std::to_string(-right_wheel_vel_cmd / (2 * M_PI));
 
     try {
         odrive_serial_interface.Write(cmd_left + cmd_right);