diff --git a/Software/python/hwtest.py b/Software/python/hwtest.py
index 1a4bdbc..4fd9cad 100644
--- a/Software/python/hwtest.py
+++ b/Software/python/hwtest.py
@@ -142,7 +142,7 @@ def control_thread():
             line_position = 0
 
         # Calculate output
-        new_c += fir_taps[0] * error
+        new_c += fir_taps[0] * line_position
         motor_speed += new_c
 
         # Update motors