diff --git a/steer-pid.py b/steer-pid.py
index 452f5df..fcb2252 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -96,7 +96,7 @@ for chunk in stream.iter_content(chunk_size=1024):
                     wp = 0.7
                     wd = 0.3
                     wi = 0
-                    mri = 0.1
+                    mri = 0.2
 
                     v = 0.25
 
@@ -109,12 +109,14 @@ for chunk in stream.iter_content(chunk_size=1024):
                     motorL.start(-v * min(100 + k, 100))
                     motorR.start(v * min(100 - k, 100))
                     xp = x
-                    ip += i # FIXME(oka): to jest blad
+                    ip = i
 
                     # (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("PDI: ", p, d, dtms, i)
+            else:
+                ip=0
         # ============================
         # 👆 KONIEC DETEKCJI PIŁKI 👆
         # ============================