diff --git a/src/C++/Driver/src/KobukiParser.cpp b/src/C++/Driver/src/KobukiParser.cpp
index 006f341..0c1e957 100644
--- a/src/C++/Driver/src/KobukiParser.cpp
+++ b/src/C++/Driver/src/KobukiParser.cpp
@@ -2,6 +2,7 @@
 #include <iostream>
 //checkedValue const maken
 //bitwise operators nachecken met website van kobuki serial website
+//cliffsensor kan rauwe getallen zijn
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
     int rtrnvalue = checkChecksum(data);
     if (rtrnvalue != 0) {
@@ -152,13 +153,13 @@ void KobukiParser::parseGyroData(TKobukiData &output, unsigned char *data, int &
     checkedValue += 5; // 3 unused
 }
 
-void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
-    output.CliffSensorRight = data[checkedValue];
-    checkedValue++;
-    output.CliffSensorCenter = data[checkedValue];
-    checkedValue++;
-    output.CliffSensorLeft = data[checkedValue];
-    checkedValue++;
+void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue) {
+    output.CliffSensorRight = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
+    output.CliffSensorCenter = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
+    output.CliffSensorLeft = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
 }
 
 void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){