diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index e1133d1..1af68f3 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -36,7 +36,7 @@ class Robot:
         while listening:
              # expected data: '(u1, u2)'\n"
              # where ui = control for motor i
-             # ui \in [10000, 10000]
+             # ui \in [-1.0, 1.0]
              data = comm_socket.readline()
              data_str = data.decode()
              print("Data received: {}".format(data_str))
@@ -44,9 +44,9 @@ class Robot:
                  print("processing data = {}".format(data_str))
                  l = data_str.strip('()\n').split(',')
                  print("l = {}".format(l))
-                 u1 = int(l[0])
+                 u1 = int(float(l[0])*10000)
                  print("u1 = {}".format(u1))
-                 u2 = int(l[1])
+                 u2 = int(float(l[1])*10000)
                  print("u2 = {}".format(u2))
              except ValueError:
                  print("ValueError: Data has wrong format.")
diff --git a/micropython_firmware/remote_control.py b/micropython_firmware/remote_control.py
index d28e210..80bbac9 100644
--- a/micropython_firmware/remote_control.py
+++ b/micropython_firmware/remote_control.py
@@ -16,20 +16,20 @@ while True:
     for event in events:
         if event.type == pygame.KEYDOWN:
             if event.key == pygame.K_LEFT:
-                u1 = 10000
-                u2 = -10000
+                u1 = 1.0
+                u2 = -1.0
                 print("turn left: ({},{})".format(u1, u2))
             elif event.key == pygame.K_RIGHT:
-                u1 = -10000
-                u2 = 10000
+                u1 = -1.0
+                u2 = 1.0
                 print("turn right: ({},{})".format(u1, u2))
             elif event.key == pygame.K_UP:
-                u1 = -10000
-                u2 = -10000
+                u1 = -1.0
+                u2 = -1.0
                 print("forward: ({},{})".format(u1, u2))
             elif event.key == pygame.K_DOWN:
-                u1 = 10000
-                u2 = 10000
+                u1 = 1.0
+                u2 = 1.0
                 print("forward: ({},{})".format(u1, u2))
             rc_socket.send('({},{})\n'.format(u1, u2))
         elif event.type == pygame.KEYUP: