diff --git a/Spreadsheets/MotorSaturation_Bug.ods b/Spreadsheets/MotorSaturation_Bug.ods
new file mode 100644
index 0000000..e256e3a
Binary files /dev/null and b/Spreadsheets/MotorSaturation_Bug.ods differ
diff --git a/motorControl.ino b/motorControl.ino
index 6b24aca..736d6f3 100644
--- a/motorControl.ino
+++ b/motorControl.ino
@@ -169,7 +169,7 @@ float motorControl(byte motorID, int speedCMD_, int saturation, float dbPos_, fl
     windup = saturation - speedCMD_;
     speedCMD_ = saturation;
   } else if (speedCMD_ < -saturation) {
-    windup = saturation - speedCMD_;
+    windup = -saturation - speedCMD_;
     speedCMD_ = -saturation;
   }