diff --git a/main/modes/wheelchairmode.cpp b/main/modes/wheelchairmode.cpp
index d0f3dac..60148aa 100644
--- a/main/modes/wheelchairmode.cpp
+++ b/main/modes/wheelchairmode.cpp
@@ -33,8 +33,8 @@ void WheelchairMode::update()
     }
     else
     {
-        const auto left_right = configs.gasMin.value == configs.gasMax.value ? 0 : map_analog_stick(configs.gasMitte.value, configs.gasMin.value, configs.gasMax.value, *raw_gas);
-        const auto front_back = configs.bremsMin.value == configs.bremsMax.value ? 0 : map_analog_stick(configs.bremsMitte.value, configs.bremsMin.value, configs.bremsMax.value, *raw_brems);
+        const int16_t left_right = configs.gasMin.value == configs.gasMax.value ? 0 : *gas;
+        const int16_t front_back = configs.bremsMin.value == configs.bremsMax.value ? 0 : -*brems;
 
         float local_gas = 0;
         float local_brems = 0;
@@ -60,7 +60,7 @@ void WheelchairMode::update()
                 local_brems = 0;
         }
 
-        ESP_LOGI("BOBBY", "left_right: %i, front_back: %i, local_gas: %.2f, local_brems: %.2f gas: %.2f, brems: %.2f", left_right, front_back, local_gas, local_brems, *gas, *brems);
+        // ESP_LOGI("BOBBY", "left_right: %i, front_back: %i, local_gas: %.2f, local_brems: %.2f gas: %.2f, brems: %.2f", left_right, front_back, local_gas, local_brems, *gas, *brems);
 
         auto gas_processed = profileSettings.defaultMode.squareGas ? (local_gas * local_gas) / 1000.f : local_gas;
         auto brems_processed = profileSettings.defaultMode.squareBrems ? (local_brems * local_brems) / 1000 : local_brems;
@@ -240,13 +240,13 @@ void WheelchairMode::update()
 
                 controller.command.left.ctrlTyp = pair.first;
                 controller.command.left.ctrlMod = pair.second;
-                controller.command.left.pwm = (pwm + steer);
+                controller.command.left.pwm = (pwm - steer);
                 controller.command.left.cruiseCtrlEna = false;
                 controller.command.left.nCruiseMotTgt = 0;
 
                 controller.command.right.ctrlTyp = pair.first;
                 controller.command.right.ctrlMod = pair.second;
-                controller.command.right.pwm = (pwm - steer);
+                controller.command.right.pwm = (pwm + steer);
                 controller.command.right.cruiseCtrlEna = false;
                 controller.command.right.nCruiseMotTgt = 0;
             }
diff --git a/main/potis.cpp b/main/potis.cpp
index 0e32744..256ed41 100644
--- a/main/potis.cpp
+++ b/main/potis.cpp
@@ -10,6 +10,7 @@
 #include "can.h"
 #endif
 #include "newsettings.h"
+#include "utils.h"
 
 using namespace std::chrono_literals;
 
@@ -65,6 +66,7 @@ void readPotis()
         raw_brems = sampleMultipleTimes(PINS_BREMS);
 #endif
 
+#ifndef FEATURE_JOYSTICK
     if (raw_gas)
         gas = cpputils::mapValueClamped<float>(*raw_gas, configs.gasMin.value, configs.gasMax.value, 0., 1000.);
     else
@@ -73,6 +75,20 @@ void readPotis()
         brems = cpputils::mapValueClamped<float>(*raw_brems, configs.bremsMin.value, configs.bremsMax.value, 0., 1000.);
     else
         brems = std::nullopt;
+#else
+    if (raw_gas)
+    {
+        gas = map_analog_stick(configs.gasMitte.value, configs.gasMin.value, configs.gasMax.value, *raw_gas);
+    }
+    else
+        gas = std::nullopt;
+    if (raw_brems)
+    {
+        brems = map_analog_stick(configs.bremsMitte.value, configs.bremsMin.value, configs.bremsMax.value, *raw_brems);
+    }
+    else
+        brems = std::nullopt;
+#endif
 
 #ifdef FEATURE_GAMETRAK
     raw_gametrakX = sampleMultipleTimes(PINS_GAMETRAKX);
diff --git a/main/utils.cpp b/main/utils.cpp
index b613e9a..27410e2 100644
--- a/main/utils.cpp
+++ b/main/utils.cpp
@@ -293,7 +293,7 @@ int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t
     if (raw < middle)
     {
         raw += configs.deadband.value;
-        end += configs.deadband.value;
+        start += configs.deadband.value;
         const auto return_val = map(raw, start, middle, -1000, 0);
         if (return_val > 0)
             return 0;