diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp
index 35b7f09..185922a 100644
--- a/src/MindVisionMain.cpp
+++ b/src/MindVisionMain.cpp
@@ -30,8 +30,14 @@ void output_control_data(const cv::Point2f* ballistic_point,
         std::ostringstream send_str;
 
         // Calculate offset (based on actual image center)
-        int ballistic_offset_x = static_cast<int>(ballistic_point->x - img_center.x);
-        int ballistic_offset_y = static_cast<int>(img_center.y - ballistic_point->y);
+        int ballistic_offset_x = -static_cast<int>(ballistic_point->x - img_center.x);
+        if ( abs(ballistic_offset_x) > 320){
+            ballistic_offset_x = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 320 ;
+        }
+        int ballistic_offset_y = -static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_y) > 180 ) {
+            ballistic_offset_y = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 180 ;
+        }
 
         // Color simplification mapping
         std::string simplified_color = target_color;