Fixed LED blink bug

Author: ksiegall

XRPLib/board.py

@@ -95,7 +95,7 @@ def led_blink(self, frequency: int=0):
             self._virt_timer.deinit()
         # We set it to twice in input frequency so that
         # the led flashes on and off frequency times per second
-        if frequency == 0:
+        if frequency != 0:
             self._virt_timer.init(freq=frequency*2, mode=Timer.PERIODIC,
                 callback=lambda t:self.led.toggle())
             self.is_led_blinking = True

XRPLib/differential_drive.py

@@ -250,7 +250,7 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No
         # Secondary controller to keep encoder values in sync
         if secondary_controller is None:
             secondary_controller = PID(
-                kp = 1.0,
+                kp = 0.8,
             )
 
         if use_imu and (self.imu is not None):