diff --git a/Rover/balance_bot.cpp b/Rover/balance_bot.cpp
index cf35149794..2e55174cce 100644
--- a/Rover/balance_bot.cpp
+++ b/Rover/balance_bot.cpp
@@ -7,15 +7,8 @@ void Rover::balancebot_pitch_control(float &throttle)
     // calculate desired pitch angle
     const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max) + radians(g2.bal_pitch_trim);
 
-    // calculate speed from wheel encoders
-    float veh_speed_pct = 0.0f;
-    if (g2.wheel_encoder.enabled(0) && g2.wheel_encoder.enabled(1) && is_positive(g2.wheel_rate_control.get_rate_max_rads())) {
-        veh_speed_pct = (g2.wheel_encoder.get_rate(0) + g2.wheel_encoder.get_rate(1)) / (2.0f * g2.wheel_rate_control.get_rate_max_rads()) * 100.0f;
-        veh_speed_pct = constrain_float(veh_speed_pct, -100.0f, 100.0f);
-    }
-
     // calculate required throttle using PID controller
-    throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, veh_speed_pct, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, G_Dt) * 100.0f;
+    throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, g2.motors.limit.throttle_lower || g2.motors.limit.throttle_upper, G_Dt) * 100.0f;
 }
 
 // returns true if vehicle is a balance bot