diff --git a/app/by_motion.c b/app/by_motion.c
index 5ca2f3c..6b72fef 100644
--- a/app/by_motion.c
+++ b/app/by_motion.c
@@ -54,6 +54,10 @@ void by_motion_update_speed(void)
   v_wheel[2] = speed->v_x + speed->v_y + RX_RY * speed->v_w;
   v_wheel[3] = speed->v_x - speed->v_y - RX_RY * speed->v_w;
 
+  // 根据安装方式调整轮子方向
+  v_wheel[1] *= -1;
+  v_wheel[2] *= -1;
+
   for (uint8_t i = 0; i < 4; i++) {
     motion_speed_data[i] = (int16_t)v_wheel[i];