I = 0.02 D = 0 SET_ANGLE_ROLL = 0 SET_ANGLE_PITCH = 0 acc=Imu() sroll=Servo(0,-1,MIDDLE_POS,MIDDLE_POS) spitch=Servo(1,1,MIDDLE_POS,MIDDLE_POS) pidroll = Pid(P,I,D) pidpitch = Pid(P,I,D) t = time.time() while 1: acc.ReadIMU(1) if time.time() - t > DELTA_T: pidroll.finderror(acc.roll,SET_ANGLE_ROLL) pidpitch.finderror(acc.pitch,SET_ANGLE_PITCH) sroll.move_pid(pidroll) spitch.move_pid(pidpitch) t= time.time() print "Roll angle",acc.roll