diff --git a/DifferentialDrive.cpp b/DifferentialDrive.cpp
index 2c7b0e4..86a5cf5 100644
--- a/DifferentialDrive.cpp
+++ b/DifferentialDrive.cpp
@@ -93,7 +93,7 @@ float DifferentialDrive::GetAngularVelocity() {
   leftSpeed = leftSpeed * rpsToMs;   // in meters per second
   rightSpeed = rightSpeed * rpsToMs; // in meters per second
 
-  float angularSpeed = (rightSpeed - leftSpeed) / 2;
+  float angularSpeed = (leftSpeed - rightSpeed) / 2;
   float angularDistance = wheelSeparation / 2 * Angle::pi;
   float rotationsPerSecond = angularSpeed / angularDistance;
   float degreesPerSecond = Angle::Normalize(360 * rotationsPerSecond);
diff --git a/test/BB2B_Test.cc b/test/BB2B_Test.cc
index 49da5d3..241dc38 100644
--- a/test/BB2B_Test.cc
+++ b/test/BB2B_Test.cc
@@ -130,7 +130,7 @@ TEST(BB2B, ObstacleLeft) {
   DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
   propulsion->SetDimensions(
       1 / Angle::pi,  // we use this, such that motor speed 1 -> velocity 1 m/s
-      4 / Angle::pi); // we use this, such that angular velocity will be 180
+      8 / Angle::pi); // we use this, such that angular velocity will be 90
                       // degrees per second
 
   Roboid *roboid = new Roboid(perception, propulsion);
@@ -205,11 +205,10 @@ TEST(BB2B, ObstacleLeft) {
   Polar velocity =
       diffDrive->GetVelocity(); // this depends on the wheel diameter.
   EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
-  EXPECT_FLOAT_EQ(velocity.angle, 0.0F);
 
   float angularVelocity =
       diffDrive->GetAngularVelocity(); // this also depends on wheel separation
-  EXPECT_FLOAT_EQ(angularVelocity, 180.0F);
+  EXPECT_FLOAT_EQ(angularVelocity, 90.0F);
 
 #pragma endregion
 }
@@ -232,7 +231,7 @@ TEST(BB2B, ObstacleRight) {
   DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
   propulsion->SetDimensions(
       1 / Angle::pi,  // we use this, such that motor speed 1 -> velocity 1 m/s
-      4 / Angle::pi); // we use this, such that angular velocity will be 180
+      8 / Angle::pi); // we use this, such that angular velocity will be 90
                       // degrees per second
 
   Roboid *roboid = new Roboid(perception, propulsion);
@@ -304,14 +303,11 @@ TEST(BB2B, ObstacleRight) {
   EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F);
 
   // Roboid velocity
-  Polar velocity =
-      diffDrive->GetVelocity(); // this depends on the wheel diameter.
+  Polar velocity = diffDrive->GetVelocity();
   EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
-  EXPECT_FLOAT_EQ(velocity.angle, 0.0F);
 
-  float angularVelocity =
-      diffDrive->GetAngularVelocity(); // this also depends on wheel separation
-  EXPECT_FLOAT_EQ(angularVelocity, -180.0F);
+  float angularVelocity = diffDrive->GetAngularVelocity();
+  EXPECT_FLOAT_EQ(angularVelocity, -90.0F);
 
 #pragma endregion
 }
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 81ca9d6..6af1260 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.13)  # CMake version check
-Project(RoboidControlTestNew)
+Project(RoboidControlTest)
 
 set(CMAKE_CXX_STANDARD 11)            # Enable c++11 standard
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@@ -22,16 +22,16 @@ include_directories(
 enable_testing()
 
 add_executable(
-    RoboidControlTestNew
+    RoboidControlTest
     "BB2B_Test.cc"
 )
 
 target_link_libraries(
-    RoboidControlTestNew
+    RoboidControlTest
     gtest_main
     RoboidControl
     VectorAlgebra
 )
 
 include(GoogleTest)
-gtest_discover_tests(RoboidControlTestNew)
+gtest_discover_tests(RoboidControlTest)