diff --git a/controller/python/localpid.py b/controller/python/localpid.py
index 0ba22fe9e7db6b46251dd00ccca8ce72d2eb353d..79138b352db1c9c361513eba36d232a43224a9d2 100644
--- a/controller/python/localpid.py
+++ b/controller/python/localpid.py
@@ -50,7 +50,7 @@ def advance(c, distance, max_speed):
         ):
             stable_for += 1
             if stable_for >= 10:
-                c.set_motor_speed(None, None)
+                c.set_raw_motor_speed(None, None)
                 break
         else:
             stable_for = 0
@@ -67,7 +67,7 @@ def advance(c, distance, max_speed):
         prev_err_left, prev_err_right = err_left, err_right
         command_left = command(err_left, acc_err_left, der_err_left)
         command_right = command(err_right, acc_err_right, der_err_right)
-        c.set_motor_speed(command_left, command_right)
+        c.set_raw_motor_speed(command_left, command_right)
         print(
             f"target = {target}, pos = {(pos_left, pos_right)},",
             f"speed = {(command_left, command_right)}",
@@ -94,4 +94,4 @@ try:
     # advance(c, -10000, 50)
 except KeyboardInterrupt:
     print("Stopping engine")
-    c.set_motor_speed(None, None)
+    c.set_raw_motor_speed(None, None)