diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index 5d3d851..acdf868 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -393,10 +393,10 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
   SerialRef.print(mprear.cmdL); SerialRef.print(",");
   SerialRef.print(mprear.cmdR); SerialRef.print(",");
 
-  SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(",");
-  SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(",");
-  SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
-  SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
+  SerialRef.print(-mpfront.filtered_curL,3); SerialRef.print(","); //invert. positive current is drive current
+  SerialRef.print(-mpfront.filtered_curR,3); SerialRef.print(",");
+  SerialRef.print(-mprear.filtered_curL,3); SerialRef.print(",");
+  SerialRef.print(-mprear.filtered_curR,3); SerialRef.print(",");
 
   SerialRef.print(-fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
   SerialRef.print(fbfront.speedR_meas); SerialRef.print(",");
@@ -408,7 +408,7 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
   SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V
   SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V
 
-  SerialRef.print(currentAll,3); SerialRef.print(",");
+  SerialRef.print(-currentAll,3); SerialRef.print(","); //invert. positive current is drive current
   SerialRef.print(throttle); SerialRef.print(",");
   SerialRef.print(brake); SerialRef.println();
 }
\ No newline at end of file