diff --git a/src/rqt_gauges/speedometer_gauge.py b/src/rqt_gauges/speedometer_gauge.py
index c7585ab..21f64de 100644
--- a/src/rqt_gauges/speedometer_gauge.py
+++ b/src/rqt_gauges/speedometer_gauge.py
@@ -34,6 +34,7 @@ def __init__(self, parent=None):
 
         self.minValue = 0
         self.maxValue = 180
+        self.raw_value = self.minValue
         self.value = self.minValue
         self.value_offset = 0
         self.valueNeedleSnapzone = 0.05
@@ -137,6 +138,8 @@ def updateValue(self, value):
         # Args:
         #   value: Value to update the gauge with.
 
+        self.raw_value = value
+
         if value <= self.minValue:
             self.value = self.minValue
         elif value >= self.maxValue:
@@ -309,7 +312,7 @@ def create_value_text(self):
         painter.setPen(pen_shadow)
 
         text_radius = self.widget_diameter / 2 * self.text_radius_factor
-        text = str(int(self.value))
+        text = str(int(self.raw_value))
         w = fm.width(text) + 1
         h = fm.height()
         painter.setFont(QFont(self.value_fontname, self.value_fontsize, QFont.Bold))
diff --git a/src/rqt_gauges/steering_wheel_gauge.py b/src/rqt_gauges/steering_wheel_gauge.py
index 76fe4d1..519bd43 100644
--- a/src/rqt_gauges/steering_wheel_gauge.py
+++ b/src/rqt_gauges/steering_wheel_gauge.py
@@ -21,6 +21,7 @@ def __init__(self, parent=None):
 
         super().__init__(parent)
 
+        self.raw_value = 0
         self.value = 0
         self.width = 400
         self.height = 400
@@ -97,6 +98,7 @@ def updateValue(self, value: float):
         # Updates the value that the gauge is indicating.
         # Args:
         #   value: Value to update the gauge with.
+        self.raw_value = value
         value = max(value, self.minValue)
         value = min(value, self.maxValue)
         self.value = value
@@ -161,7 +163,7 @@ def paintEvent(self, event):
         # Create Gauge Text
         pen.setColor(QColor(self.text_color))
         painter.setPen(pen)
-        painter.drawText(rect, Qt.AlignCenter, f'{self.value:.2f}{self.suffix}')
+        painter.drawText(rect, Qt.AlignCenter, f'{self.raw_value:.2f}{self.suffix}')
         # End Painter
         painter.end()
 
diff --git a/src/rqt_gauges/throttle_brake_pedals_widget.py b/src/rqt_gauges/throttle_brake_pedals_widget.py
index 619730f..c12827c 100644
--- a/src/rqt_gauges/throttle_brake_pedals_widget.py
+++ b/src/rqt_gauges/throttle_brake_pedals_widget.py
@@ -12,8 +12,8 @@
 
 class ThrottleBrakePedalsWidget(QWidget):
 
-    updateThrottleValueSignal = pyqtSignal(int)
-    updateBrakeValueSignal = pyqtSignal(int)
+    updateThrottleValueSignal = pyqtSignal(int, int)
+    updateBrakeValueSignal = pyqtSignal(int, int)
 
     def __init__(self, node):
         super().__init__()
@@ -82,15 +82,15 @@ def throttleUpdateSubscription(self):
                 self.throttle_callback,
                 10)
 
-    @pyqtSlot(int)
-    def updateThrottle(self, value):
+    @pyqtSlot(int, int)
+    def updateThrottle(self, value, raw_value):
         self.throttle_pedal.setValue(value)
-        self.throttle_label.setText(str(value / 100.0))
+        self.throttle_label.setText(str(raw_value / 100.0))
 
-    @pyqtSlot(int)
-    def updateBrake(self, value):
+    @pyqtSlot(int, int)
+    def updateBrake(self, value, raw_value):
         self.brake_pedal.setValue(value)
-        self.brake_label.setText(str(value / 100.0))
+        self.brake_label.setText(str(raw_value / 100.0))
 
     @pyqtSlot()
     def brakeUpdateSubscription(self):
@@ -116,10 +116,15 @@ def throttle_callback(self, msg):
             value = f(value)
         if value is not None and (type(value) == int or type(value) == float
                                   or type(value) == str):
-            if value <= 1 and value >= 0:
-                self.updateThrottleValueSignal.emit(int(value*100))
-            else:
+            raw_value = int(value*100)
+            if value < 0:
+                value = 0
                 print('The throttle pedal value is not between 0 and 1')
+            elif value > 1:
+                value = 1
+                print('The throttle pedal value is not between 0 and 1')
+
+            self.updateThrottleValueSignal.emit(int(value*100), raw_value)
         else:
             print('The throttle pedal value is not valid')
 
@@ -129,9 +134,14 @@ def brake_callback(self, msg):
             value = f(value)
         if value is not None and (type(value) == int or type(value) == float
                                   or type(value) == str):
-            if value <= 1 and value >= 0:
-                self.updateBrakeValueSignal.emit(int(value*100))
-            else:
+            raw_value = int(value*100)
+            if value < 0:
+                value = 0
                 print('The brake pedal value is not between 0 and 1')
+            elif value > 1:
+                value = 1
+                print('The brake pedal value is not between 0 and 1')
+
+            self.updateBrakeValueSignal.emit(int(value*100), raw_value)
         else:
             print('The brake pedal value is not valid')