diff --git a/Things/DifferentialDrive.py b/Things/DifferentialDrive.py
index c10e350..6ed5ff1 100644
--- a/Things/DifferentialDrive.py
+++ b/Things/DifferentialDrive.py
@@ -61,24 +61,24 @@ class DifferentialDrive(Thing):
         """!
         @copydoc Thing::Update
         """
-        # This assumes forward velocity only...
-        linear_velocity: Spherical = self.linear_velocity.distance
+        if not (self.linear_velocity_updated or self.angular_velocity_updated):
+            # This assumes no sideward velocity because diff drive does not support it
+            linear_speed = self.linear_velocity.distance
+            # When the direction is backwards...
+            if self.linear_velocity.direction.horizontal < -90 or self.linear_velocity.direction.horizontal > 90:
+                linear_speed = -linear_speed
 
-        angular_velocity: Spherical = self.angular_velocity
-        angular_speed: float = angular_velocity.distance * Angle.Deg2Rad # in radians/sec
-        # Determine the rotation direction
-        if angular_velocity.direction.horizontal < 0:
-            angular_speed = -angular_speed
-        
-        if self.wheel_left is None or self.wheel_right is None:
-            return
-        
-        speed_left: float = 0 if self.wheel_left is None else \
-            (linear_velocity + angular_speed * self.wheel_left.position.distance) / self.wheel_radius * Angle.Rad2Deg
-        speed_right: float = 0 if self.wheel_right is None else \
-            (linear_velocity - angular_speed * self.wheel_right.position.distance) / self.wheel_radius * Angle.Rad2Deg
+            angular_velocity: Spherical = self.angular_velocity
+            angular_speed: float = angular_velocity.distance * Angle.Deg2Rad # in radians/sec
+            # Determine the rotation direction
+            if angular_velocity.direction.horizontal < 0:
+                angular_speed = -angular_speed
+            
+            if self.wheel_left is not None and self.wheel_right is not None:
+                speed_left: float = 0 if self.wheel_left is None else (linear_speed + angular_speed * self.wheel_left.position.distance) / self.wheel_radius * Angle.Rad2Deg
+                speed_right: float = 0 if self.wheel_right is None else (linear_speed - angular_speed * self.wheel_right.position.distance) / self.wheel_radius * Angle.Rad2Deg
 
-        self.SetWheelVelocity(speed_left, speed_right)
+                self.SetWheelVelocity(speed_left, speed_right)
 
         super().Update(currentTimeMs)