diff --git a/rm_shooter_controllers/include/rm_shooter_controllers/standard.h b/rm_shooter_controllers/include/rm_shooter_controllers/standard.h
index f2c34daa..e4e44c0d 100644
--- a/rm_shooter_controllers/include/rm_shooter_controllers/standard.h
+++ b/rm_shooter_controllers/include/rm_shooter_controllers/standard.h
@@ -89,6 +89,7 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
   std::vector<std::vector<effort_controllers::JointVelocityController*>> ctrls_friction_;
   effort_controllers::JointPositionController ctrl_trigger_;
   std::vector<std::vector<double>> wheel_speed_offsets_;
+  std::vector<std::vector<double>> wheel_speed_directions_;
   int push_per_rotation_{}, count_{};
   double push_wheel_speed_threshold_{};
   double freq_threshold_{};
diff --git a/rm_shooter_controllers/src/standard.cpp b/rm_shooter_controllers/src/standard.cpp
index 5ea06cd6..0b0673e7 100644
--- a/rm_shooter_controllers/src/standard.cpp
+++ b/rm_shooter_controllers/src/standard.cpp
@@ -77,16 +77,20 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
 
   XmlRpc::XmlRpcValue friction;
   double wheel_speed_offset;
+  double wheel_speed_direction;
   effort_joint_interface_ = robot_hw->get<hardware_interface::EffortJointInterface>();
   controller_nh.getParam("friction", friction);
   for (const auto& its : friction)
   {
     std::vector<double> wheel_speed_offset_temp;
+    std::vector<double> wheel_speed_direction_temp;
     std::vector<effort_controllers::JointVelocityController*> ctrl_frictions;
     for (const auto& it : its.second)
     {
       ros::NodeHandle nh = ros::NodeHandle(controller_nh, "friction/" + its.first + "/" + it.first);
       wheel_speed_offset_temp.push_back(nh.getParam("wheel_speed_offset", wheel_speed_offset) ? wheel_speed_offset : 0.);
+      wheel_speed_direction_temp.push_back(
+          nh.getParam("wheel_speed_direction", wheel_speed_direction) ? wheel_speed_direction : 1.);
       effort_controllers::JointVelocityController* ctrl_friction = new effort_controllers::JointVelocityController;
       if (ctrl_friction->init(effort_joint_interface_, nh))
         ctrl_frictions.push_back(ctrl_friction);
@@ -95,6 +99,7 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
     }
     ctrls_friction_.push_back(ctrl_frictions);
     wheel_speed_offsets_.push_back(wheel_speed_offset_temp);
+    wheel_speed_directions_.push_back(wheel_speed_direction_temp);
   }
   ros::NodeHandle nh_trigger = ros::NodeHandle(controller_nh, "trigger");
   return ctrl_trigger_.init(effort_joint_interface_, nh_trigger);
@@ -194,12 +199,13 @@ void Controller::push(const ros::Time& time, const ros::Duration& period)
     ROS_INFO("[Shooter] Enter PUSH");
   }
   bool wheel_speed_ready = true;
-  for (auto& ctrl_frictions : ctrls_friction_)
+  for (size_t i = 0; i < ctrls_friction_.size(); i++)
   {
-    for (auto& ctrl_friction : ctrl_frictions)
+    for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
     {
-      if (ctrl_friction->joint_.getVelocity() < push_wheel_speed_threshold_ * ctrl_friction->command_ ||
-          ctrl_friction->joint_.getVelocity() <= M_PI)
+      if (wheel_speed_directions_[i][j] * ctrls_friction_[i][j]->joint_.getVelocity() <
+              push_wheel_speed_threshold_ * ctrls_friction_[i][j]->command_ ||
+          wheel_speed_directions_[i][j] * ctrls_friction_[i][j]->joint_.getVelocity() <= M_PI)
         wheel_speed_ready = false;
     }
   }
@@ -268,12 +274,12 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
 {
   static int friction_block_count = 0;
   bool friction_wheel_block = false;
-  for (auto& ctrl_frictions : ctrls_friction_)
+  for (size_t i = 0; i < ctrls_friction_.size(); i++)
   {
-    for (auto& ctrl_friction : ctrl_frictions)
+    for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
     {
-      if (ctrl_friction->joint_.getVelocity() <= friction_block_vel_ &&
-          abs(ctrl_friction->joint_.getEffort()) >= friction_block_effort_ && cmd.wheel_speed != 0)
+      if (wheel_speed_directions_[i][j] * ctrls_friction_[i][j]->joint_.getVelocity() <= friction_block_vel_ &&
+          abs(ctrls_friction_[i][j]->joint_.getEffort()) >= friction_block_effort_ && cmd.wheel_speed != 0)
         friction_wheel_block = true;
     }
   }
@@ -283,7 +289,8 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
     {
       for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
       {
-        ctrls_friction_[i][j]->setCommand(cmd_.wheel_speed + config_.extra_wheel_speed + wheel_speed_offsets_[i][j]);
+        ctrls_friction_[i][j]->setCommand(wheel_speed_directions_[i][j] *
+                                          (cmd_.wheel_speed + config_.extra_wheel_speed + wheel_speed_offsets_[i][j]));
       }
     }
   }
@@ -292,11 +299,11 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
     double command = (friction_block_count <= static_cast<int>(anti_friction_block_duty_cycle_ * 1000)) ?
                          anti_friction_block_vel_ :
                          0.;
-    for (auto& ctrl_frictions : ctrls_friction_)
+    for (size_t i = 0; i < ctrls_friction_.size(); i++)
     {
-      for (auto& ctrl_friction : ctrl_frictions)
+      for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
       {
-        ctrl_friction->setCommand(command);
+        ctrls_friction_[i][j]->setCommand(command);
       }
     }
     friction_block_count = (friction_block_count + 1) % 1000;