Thanks again!!! Cheers! Chris

Hi Steve, good question and I will attempt to answer that. I started out thinking I would only adjust the speed of the slower of the two wheels (especially when turning) because most of the time, the wheel speed of the "faster" wheel is near the upper limit. As development went on and I started testing the proportional control, I realized I needed more intensity to fix severe errors. Adjusting just one of the motors was creating a limit to how fast I could recover from error because I was hitting the motor's limit. At this point, the Proportional was only being applied to one wheel. I then implemented the proportional adjustment to both motors, one opposite the other so that recovery would happen twice as fast and I hopefully would stay off of the Upper and Lower limits of the motor's working range. As you suspect, I should apply half the proportional adjustment to each wheel, however, I didn't (senior moment I guess). The good part was that change resulted in good performance. With that said, I could have doubled the "P" value and halved the "P" for each wheel to be more "traditional". In a few weeks you will see a major re-write in this section of the code. Looking over the code I started to see a way to reduce the "work" being done so I thought I would give it a go and it seems to be working pretty good so far. The constant evolution of a program is always fun, but I have to be careful to not get stuck in the "let's make it better loop" or this project will never move forward. Cheers! Chris

@@MakingStuffwithChrisDeHut Of course! The idea of applying the adjustment to both wheels in opposite directions is inspired for keeping away from the motor speed limits. As you said, I see now, the "P" value is just a scaling factor to the shift_amt and it is the overall effect that matters in getting the result you wanted. Very clever coding on your part, I look forward to see what you have come up with in the next version. Fascinating series you have created with Zoom Town. Cheers, Steve

Hello Tomek! Yup Zoomie is going straight, turns are coming up soon too. How was the whisky tasting????? Pizza was great last night. Cheers! chris

@@MakingStuffwithChrisDeHut first of all: we tasted Danish whisky. I did not even know the Danish make whisky but obviously they are in the same [latitude?longitude?] as edinborough, scotland, so why not. Same weather conditions and good water as the scots have. The whisky was actually quite good, but did not meet my desired level of smokeyness, so i did not by any bottles.

@@tomek3633 Well I guess that leaves more money for more PICOs to play with then :-) Sounds like you enjoyed the experience though and that is always a plus.