diff --git a/steer-pid.py b/steer-pid.py
index 1c56568..c970695 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -105,15 +105,18 @@ for chunk in stream.iter_content(chunk_size=1024):
 
                     k = wp * p + wi * i + wd * d
 
-                    motorL.start(max(0, -v * min(100 + k, 100)))
-                    motorR.start(max(0, v * min(100 - k, 100)))
+                    speedL = max(0, -v * min(100 + k, 100))
+                    speedR = max(0, v * min(100 - k, 100))
+                    motorL.start(speedL)
+                    motorR.start(speedR)
                     xp = x
                     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)
+                    #print("PDI: ", p, d, dtms, i)
+                    print(p, d, speedL, speedR)
             else:
                 ip = 0
         # ============================