diff --git a/clients/AlphabotAndroidClient/app/src/main/java/at/mg6/filip/alphabotandroidclient/ControlActivity.java b/clients/AlphabotAndroidClient/app/src/main/java/at/mg6/filip/alphabotandroidclient/ControlActivity.java
index 18bdf7f0..c0b21641 100644
--- a/clients/AlphabotAndroidClient/app/src/main/java/at/mg6/filip/alphabotandroidclient/ControlActivity.java
+++ b/clients/AlphabotAndroidClient/app/src/main/java/at/mg6/filip/alphabotandroidclient/ControlActivity.java
@@ -18,6 +18,7 @@
 import android.widget.Button;
 
 import java.math.BigInteger;
+import java.text.DecimalFormat;
 import java.util.Timer;
 import java.util.TimerTask;
 
@@ -380,8 +381,6 @@ public void run() {
                         runOnUiThread(new Runnable() {
                             @Override
                             public void run() {
-                                kmphView.setText((Math.round((carSpeed / 40.0) * 10.0) / 10.0) + " km/h");
-                                mpsView.setText((Math.round((carSpeed / 144.0) * 10.0) / 10.0) + " m/s");
                                 speedBar.setProgress(Math.max(0, Math.abs(carSpeed) - 60));
                             }
                         });
@@ -542,8 +541,13 @@ public void run() {
                     runOnUiThread(new Runnable() {
                         @Override
                         public void run() {
-                            speedLeftBar.setProgress(Math.max(0, Math.abs(speed_left) - 20));
-                            speedRightBar.setProgress(Math.max(0, Math.abs(speed_right) - 20));
+                            speedLeftBar.setProgress((Math.max(speed_left, 0) * 100) / 127);
+                            speedLeftBar.setSecondaryProgress((Math.max(-speed_left, 0) * 100) / 127);
+                            speedRightBar.setProgress((Math.max(speed_right, 0) * 100) / 127);
+                            speedRightBar.setSecondaryProgress((Math.max(-speed_right, 0) * 100) / 127);
+                            DecimalFormat decimalFormat = new DecimalFormat("#.##");
+                            kmphView.setText(decimalFormat.format(((speed_left + speed_right) / 2.0) * 0.036) + " km/h");
+                            mpsView.setText(decimalFormat.format(((speed_left + speed_right) / 2.0) * 0.01) + " m/s");
                         }
                     });
                 } else if (characteristic.getUuid().compareTo(bleHandler.CHAR_UUID_ERROR) == 0) {
diff --git a/clients/AlphabotAndroidClient/app/src/main/res/drawable/wheel_speed_progress_bar.xml b/clients/AlphabotAndroidClient/app/src/main/res/drawable/wheel_speed_progress_bar.xml
new file mode 100644
index 00000000..99abe301
--- /dev/null
+++ b/clients/AlphabotAndroidClient/app/src/main/res/drawable/wheel_speed_progress_bar.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:id="@android:id/background">
+        <shape>
+            <solid android:color="#00000000" />
+        </shape>
+    </item>
+    <item android:id="@android:id/secondaryProgress">
+        <clip>
+            <shape>
+                <corners android:radius="4dp" />
+                <gradient
+                    android:startColor="#d07c40ff"
+                    android:endColor="#d0ff40bf"
+                    android:angle="0" />
+            </shape>
+        </clip>
+    </item>
+    <item android:id="@android:id/progress">
+        <clip>
+            <shape>
+                <corners android:radius="4dp" />
+                <gradient
+                    android:startColor="#e04046ff"
+                    android:endColor="#e0fff540"
+                    android:angle="0" />
+            </shape>
+        </clip>
+    </item>
+</layer-list>
\ No newline at end of file
diff --git a/clients/AlphabotAndroidClient/app/src/main/res/layout/activity_control.xml b/clients/AlphabotAndroidClient/app/src/main/res/layout/activity_control.xml
index c826da31..0c914d90 100644
--- a/clients/AlphabotAndroidClient/app/src/main/res/layout/activity_control.xml
+++ b/clients/AlphabotAndroidClient/app/src/main/res/layout/activity_control.xml
@@ -200,24 +200,24 @@
             android:id="@+id/speedLeftBar"
             style="?android:attr/progressBarStyleHorizontal"
             android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
+            android:layout_height="8dp"
             android:layout_weight="1"
-            android:layout_marginBottom="-4dp"
-            android:layout_marginTop="-4dp"
-            android:max="64"
-            android:progress="0" />
+            android:max="100"
+            android:progress="0"
+            android:secondaryProgress="0"
+            android:progressDrawable="@drawable/wheel_speed_progress_bar" />
 
         <ProgressBar
             android:id="@+id/speedRightBar"
             style="?android:attr/progressBarStyleHorizontal"
             android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
+            android:layout_height="8dp"
             android:layout_weight="1"
-            android:layout_marginBottom="-4dp"
-            android:layout_marginTop="-4dp"
-            android:max="64"
+            android:max="100"
             android:progress="0"
-            android:rotation="180" />
+            android:secondaryProgress="0"
+            android:rotation="180"
+            android:progressDrawable="@drawable/wheel_speed_progress_bar" />
 
     </LinearLayout>