diff --git a/src/axidraw_controller/src/cpp/axidraw_controller.cpp b/src/axidraw_controller/src/cpp/axidraw_controller.cpp
index f084815..3af64a2 100644
--- a/src/axidraw_controller/src/cpp/axidraw_controller.cpp
+++ b/src/axidraw_controller/src/cpp/axidraw_controller.cpp
@@ -78,8 +78,13 @@ class AxidrawController : public RobotController
   {
     float lspan = lmax - lmin;
     float rspan = rmax - rmin;
-    val = (val - lmin) / lspan;
-    return rmin + (val * rspan);
+    float out = (val - lmin) / lspan;
+    out = rmin + (val * rspan);
+
+    // Ensure that output is within bounds
+    out = std::max(rmin, out);
+    out = std::min(rmax, out);
+    return out;
   }
 
   /**