diff --git a/src/modelec/include/modelec/gamecontroller_listener.hpp b/src/modelec/include/modelec/gamecontroller_listener.hpp
index 42761a2..9d1ec27 100644
--- a/src/modelec/include/modelec/gamecontroller_listener.hpp
+++ b/src/modelec/include/modelec/gamecontroller_listener.hpp
@@ -18,13 +18,6 @@ namespace Modelec {
         };
 
         int arm = ServoMode::ARM_BOTTOM;
-
-        bool button_2_was_pressed = false;
-        bool button_3_was_pressed = false;
-        bool button_1_was_pressed = false;
-        bool button_0_was_pressed = false;
-        bool button_9_was_pressed = false;
-        bool button_8_was_pressed = false;
     public:
         ControllerListener();
 
@@ -38,6 +31,13 @@ namespace Modelec {
         void CheckButton(const sensor_msgs::msg::Joy::SharedPtr msg);
         void CheckAxis(const sensor_msgs::msg::Joy::SharedPtr msg);
 
+        bool button_2_was_pressed = false;
+        bool button_3_was_pressed = false;
+        bool button_1_was_pressed = false;
+        bool button_0_was_pressed = false;
+        bool button_9_was_pressed = false;
+        bool button_8_was_pressed = false;
+
         int last_speed = 0;
         int last_rotation = 0;
     };
diff --git a/src/modelec/src/gamecontroller_listener.cpp b/src/modelec/src/gamecontroller_listener.cpp
index 427ab3c..428032f 100644
--- a/src/modelec/src/gamecontroller_listener.cpp
+++ b/src/modelec/src/gamecontroller_listener.cpp
@@ -1,4 +1,5 @@
 #include "modelec/gamecontroller_listener.hpp"
+#include "modelec/utils.hpp"
 
 namespace Modelec {
     ControllerListener::ControllerListener() : Node("controller_listener")
@@ -113,7 +114,10 @@ namespace Modelec {
         auto message = std_msgs::msg::String();
         int speed = 0;
         if (msg->axes[1] < 0.1 && msg->axes[1] > -0.1) {
+            RCLCPP_INFO(this->get_logger(), "speed: 0");
             speed = 0;
+        } else {
+            speed = Modelec::mapValue(static_cast<int>(msg->axes[1]), -1, 1, -310, 310);
         }
 
         if (speed != last_speed) {
@@ -123,8 +127,11 @@ namespace Modelec {
         }
 
         int rotation = 0;
-        if (msg->axes[2] < 0.1 && msg->axes[2] > -0.1) {
+        if (msg->axes[3] < 0.1 && msg->axes[3] > -0.1) {
+            RCLCPP_INFO(this->get_logger(), "rotation: 0");
             rotation = 0;
+        } else {
+            rotation = Modelec::mapValue(static_cast<int>(-msg->axes[3]), -1, 1, -310, 310);
         }
 
         if (rotation != last_rotation) {