EV3 Motorbike (PID Controller)

Design borrowed and improved from
   • Lego Mindstorms EV3 bike project #MATLABHW...  
Instruction & programm:
https://drive.google.com/file/d/1ZsdA...
https://rebrickable.com/mocs/MOC-3843...

It is very important to place the motorcycle strictly upright at the starting point. This can be achieved by holding the motorcycle with your hand until it falls into one of the sides. Then you need to gently slip a support under it.
Change the values of the coefficients:
Proportional - RPR,
Integral - INT,
Derivative - DIF,
it is possible to achieve better results.
Corrected the program file, now you can see in what places to change the coefficients:
https://drive.google.com/open?id=1s_9...
Additional Information:
http://ev3lessons.com/en/ProgrammingL...
http://ev3lessons.com/ru/ProgrammingL...
http://ev3lessons.com/en/ProgrammingL...