From 7d6f5df82d4b0972e9b5950c89d82d42886e4020 Mon Sep 17 00:00:00 2001
From: tymek <tymek@yx.dom>
Date: Thu, 31 Jul 2025 18:22:20 +0200
Subject: [PATCH] pid steering

---
 steer-pid.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/steer-pid.py b/steer-pid.py
index 2238045..279c2b2 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -101,14 +101,16 @@ for chunk in stream.iter_content(chunk_size=1024):
                     wi = 0
                     mri = 0.5
 
+                    v = 0.25
+
                     p = x
                     d = (x - xp) / dtms
                     i = mri * ip + x * dtms
 
                     k = wp * p + wi * i + wd * d
 
-                    motorL.start(min(100 - k, 100))
-                    motorR.start(min(100 - k, 100))
+                    motorL.start(-v * min(100 - k, 100))
+                    motorR.start(v * min(100 - k, 100))
                     xp = x
                     ip += i