diff --git a/frtos/motor/motor_direction.h b/frtos/motor/motor_direction.h
index 00ad331..15f5d02 100644
--- a/frtos/motor/motor_direction.h
+++ b/frtos/motor/motor_direction.h
@@ -121,7 +121,8 @@ turn(uint32_t      direction,
 
     updateDirection(pp_car_struct->p_direction);
     float initial_yaw = pp_car_struct->p_direction->yaw;
-    float target_yaw  = adjust_yaw(initial_yaw + degree);
+    float target_yaw  = (direction == DIRECTION_LEFT) ? initial_yaw - degree
+                                                    : initial_yaw + degree;
 
     turn_to_yaw(direction, target_yaw, pwm_level, pp_car_struct);
 }
diff --git a/frtos/motor/motor_pid.h b/frtos/motor/motor_pid.h
index aa008fb..be80f5e 100644
--- a/frtos/motor/motor_pid.h
+++ b/frtos/motor/motor_pid.h
@@ -8,9 +8,6 @@
 #ifndef MOTOR_PID_H
 #define MOTOR_PID_H
 
-#include "magnetometer_init.h"
-#include "magnetometer_direction.h"
-
 /*!
  * @brief Compute the control signal using PID controller
  * @param integral The integral term of the PID controller