pid steering

steer-pid.py

@@ -93,16 +93,16 @@ for chunk in stream.iter_content(chunk_size=1024):
 
                     x = x - 160
 
-                    wp = 0.8
-                    wd = 0.2
+                    wp = 0.7
+                    wd = 0.3
                     wi = 0
-                    mri = 0.25
+                    mri = 0.1
 
                     v = 0.25
 
                     p = -x
                     d = (x - xp) * 1000 / dtms
-                    i = mri * ip + x * dtms / 1000
+                    i = mri * ip + x * dtms / 10000
 
                     k = wp * p + wi * i + wd * d