Formel drehung updaten

Distanzsensoren_auswerten/Distanzsensoren_auswerten.ino

@@ -97,8 +97,13 @@ void loop() {
       steering_value = 1;
 
 
-    float motor_right = (-steering_value + speed_value) / 2; 
-    float motor_left = (steering_value + speed_value) / 2;
+    float motor_right = (-steering_value + speed_value); 
+    float motor_left = (steering_value + speed_value);
+    float factor = max (abs(motor_right), abs(motor_left));
+    if (factor > 1) {
+      motor_right = motor_right / factor;
+      motor_left = motor_left / factor;
+    }
     
 
     delay(20);