diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index a052a92..cf4a648 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -566,8 +566,8 @@ void XYRobotCtrlModule::forward_kinematics(int32_t x, int32_t y, int32_t& m1pos,
     m1pos = ((x + y) / 2);
     m2pos = ((y - x) / 2);
   } else {
-    m1pos = (x - y) / 2;
-    m2pos = (x + y) / 2;
+    m1pos = (x + y) / 2;
+    m2pos = (x - y) / 2;
   }
 }