diff --git a/pid-example/pid-example.ino b/pid-example/pid-example.ino
index d69957a..292f1b0 100644
--- a/pid-example/pid-example.ino
+++ b/pid-example/pid-example.ino
@@ -4,9 +4,9 @@ QTRSensors qtr;
 const uint8_t SensorCount = 8;
 uint16_t sensorValues[SensorCount];
 
-float Kp = 0.09;//set up the constants value
+float Kp = 0.093;//set up the constants value
 float Ki = 0.0008;
-float Kd = 0.34;
+float Kd = 0.6;
 int P;
 int I;
 int D;
@@ -95,7 +95,38 @@ void forward_brake(int posa, int posb) {
   analogWrite(aenbl, posa);
   analogWrite(benbl, posb);
 }
-void PID_control() {
+
+void left_brake(int posa, int posb) {
+  digitalWrite(aphase, LOW);
+  digitalWrite(bphase, LOW);
+  analogWrite(aenbl, posa);
+  analogWrite(benbl, posb);
+}
+void right_brake(int posa, int posb) {
+  digitalWrite(aphase, HIGH);
+  digitalWrite(bphase, HIGH);
+  analogWrite(aenbl, posa);
+  analogWrite(benbl, posb);
+}
+
+void speedcontrol(int mota, int motb) {
+  if (mota >= 0 && motb >= 0) {
+    forward_brake(mota, motb);
+  }
+  if (mota < 0 && motb >= 0) {
+    //dreapta
+    mota = 0 - mota;
+    right_brake(mota, motb);
+     
+  }
+  if (mota >= 0 && motb < 0) {
+    //stanga
+    motb = 0 - motb;
+    left_brake(mota, motb);
+  }
+}
+
+void PID_control() {  
   uint16_t position = qtr.readLineBlack(sensorValues);
   int error = 3500 - position;
 
@@ -121,5 +152,5 @@ void PID_control() {
     motorspeedb = minspeedb;
   } 
   //Serial.print(motorspeeda);Serial.print(" ");Serial.println(motorspeedb);
-  forward_brake(motorspeeda, motorspeedb);
+  speedcontrol(motorspeeda, motorspeedb);
 }