diff --git a/steer-pid.py b/steer-pid.py
index c996d83..299532d 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -94,7 +94,7 @@ for chunk in stream.iter_content(chunk_size=1024):
                     x = x - 160
 
                     wp = 0.8
-                    wd = 0.2
+                    wd = 0.3
                     wi = 0
                     mri = 0.5
 
@@ -102,7 +102,7 @@ for chunk in stream.iter_content(chunk_size=1024):
 
                     p = -x
                     d = (x - xp) * 1000 / dtms
-                    i = mri * ip + x * dtms
+                    i = mri * ip + x * dtms / 1000
 
                     k = wp * p + wi * i + wd * d
 
@@ -114,7 +114,7 @@ for chunk in stream.iter_content(chunk_size=1024):
                     # (Opcjonalnie) Wypisz pozycję
                     cv2.putText(frame, f"P:{int(p)} D:{int(d)} I:{int(i)}", (10, 30),
                                 cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
-                    print("PID: ", p, d, i)
+                    print("PDI: ", p, d, i)
         # ============================
         # 👆 KONIEC DETEKCJI PIŁKI 👆
         # ============================