Hello Paul
not quite understand it with the second if...
70,180 is the value of the angle of the servo value so far this value is what works best, since several methyl because you think it will be another?
I did some testing with the serial monitor that liked your opinion ... the wheels have focused on this potentiometer values??:
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Everything turned left :
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Everything turned right :
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turned a little to the right and when they appear is the biggest bugs:
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same problem with bugs but turned a little left:
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What conclusions can be drawn from here?