README.md

@@ -8,13 +8,8 @@ These settings allow upload:
 
 
 ## Dependencies
-### Boards Manager
-[esp32 v1.0.4](https://github.com/espressif/arduino-esp32)
-#### Libraries
-- Wire @1.0.1
-### Libraries
-[Ps3Controller.h @v1.1.0](https://github.com/jvpernis/esp32-ps3)
+[Ps3Controller.h](https://github.com/jvpernis/esp32-ps3)
 
-[MatrixMath.h @v1.0](https://github.com/eecharlie/MatrixMath)
+[MatrixMath.h](https://github.com/eecharlie/MatrixMath)
 
-[GY_85.h @commit af33c9f791618cec6ae218fe73d039276448ff4f](https://github.com/sqrtmo/GY-85-arduino/tree/master)
+[GY_85.h](https://github.com/sqrtmo/GY-85-arduino/tree/master)

motorControl.ino

@@ -76,7 +76,7 @@ void motors() {
 
 
   //Turn controller
-  TC_cont_out = PController(rem_turn_speed_ref, vel_Matrix[1][0], K_TC);
+  TC_cont_out = PController(rem_turn_speed_ref, vel_Matrix[0][1], K_TC);
 
 
   //Sum speed command for motors