From 1633e56a5ef4c62675e0773b696103ab69949bc2 Mon Sep 17 00:00:00 2001 From: tymek Date: Fri, 1 Aug 2025 18:16:21 +0200 Subject: [PATCH] pid steering --- steer-pid.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/steer-pid.py b/steer-pid.py index c970695..86abbea 100644 --- a/steer-pid.py +++ b/steer-pid.py @@ -105,8 +105,8 @@ for chunk in stream.iter_content(chunk_size=1024): k = wp * p + wi * i + wd * d - speedL = max(0, -v * min(100 + k, 100)) - speedR = max(0, v * min(100 - k, 100)) + speedL = max(-100, -v * min(100 + k, 100)) + speedR = max(-100, v * min(100 - k, 100)) motorL.start(speedL) motorR.start(speedR) xp = x