1 changed files with 2 additions and 2 deletions
--- a/iqrobot.py
+++ b/iqrobot.py
@ -128,8 +128,8 @@ class IQRobot:
            versatz = self.bewegungsSensor.get_yaw_angle()
            sum_versatz = sum_versatz + versatz
            abweichung = (kp * versatz + ki * sum_versatz) / 100
-            linker_speed = speed * richtung * (1 - abweichung)
-            rechter_speed = speed * richtung * (1 + abweichung)
+            linker_speed = speed * (1 - abweichung)
+            rechter_speed = speed * (1 + abweichung)
            self.antrieb.start_tank_at_power(int(linker_speed), int(rechter_speed))
            #print("Versatz: " + str(versatz) + " , linker Speed: " + str(linker_speed) + ", rechter Speed: " + str(rechter_speed) + ", strecke: " + str(sum_cm))