 const float motorsMaxCommand = 400;
 
 // Define motor trims in 1/40
-const int leftTrim = 30;
+const int leftTrim = 40;
 const int rightTrim = 40;
 
 // Define speed variables for acceleration control

  // Set PID controllers command range
  pidLeft.setCmdRange(-motorsMaxCommand, motorsMaxCommand);
  pidRight.setCmdRange(-motorsMaxCommand, motorsMaxCommand);
}

void loop() {

int lastSpeedCmdRight = 0;

// Define maximum speed command change per time step
const int accelMax = 10;

// Define different objects from RasPiBot202V2 library
// Encoders
