From 83264ef11f8bfd268686cd3e63ccb7403a522acd Mon Sep 17 00:00:00 2001
From: tymek <tymek@yx.dom>
Date: Thu, 31 Jul 2025 18:31:02 +0200
Subject: [PATCH] pid steering

---
 steer-pid.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/steer-pid.py b/steer-pid.py
index 279c2b2..5811f48 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -77,9 +77,6 @@ for chunk in stream.iter_content(chunk_size=1024):
                 cv2.circle(frame, center, radius, (255, 0, 0), 2)
                 cv2.circle(frame, center, 5, (0, 0, 255), -1)
 
-                # (Opcjonalnie) Wypisz pozycję
-                cv2.putText(frame, f"X:{int(x)} Y:{int(y)} R:{int(radius)}", (10, 30),
-                            cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
 
                 if int(radius) >= 100:
                     motorL.stop()
@@ -114,6 +111,10 @@ for chunk in stream.iter_content(chunk_size=1024):
                     xp = x
                     ip += i
 
+                    # (Opcjonalnie) Wypisz pozycję
+                    cv2.putText(frame, f"P:{int(p)} I:{int(i)} D:{int(d)}", (10, 30),
+                                cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
+
         # ============================
         # 👆 KONIEC DETEKCJI PIŁKI 👆
         # ============================