diff --git a/src/C++/Driver/src/CKobuki.cpp b/src/C++/Driver/src/CKobuki.cpp
index 9616ac9..66d6ad2 100755
--- a/src/C++/Driver/src/CKobuki.cpp
+++ b/src/C++/Driver/src/CKobuki.cpp
@@ -462,11 +462,11 @@ long double CKobuki::gyroToRad(signed short GyroAngle) {
 
   long double ret;
   if (GyroAngle < 0) {
-    ret = GyroAngle + 36000;
+    ret = GyroAngle + 360;
   } else {
     ret = GyroAngle;
   }
-  return (long double)ret * PI / 18000.0;
+  return (long double)ret * PI / 180.0;
 }
 
 long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {