Loop control

[MichalMihalik869]

Hi, I use this library to control a 3-wheeled robot and I want to incorporate a PID controller into the control. And here I got stuck. I control two drive wheels using PWM. in order to use the PID I have to process the speed data in the loop. but when I add a loop to the PS4controler function, it stops responding to further keystrokes. Can you help me ? as an example I give the function after pressing the circle

def on_circle_press(self): #trojuholnik dopredu
    print("idem do predu")
    GPIO.output(revL, GPIO.HIGH)
    GPIO.output(revR, GPIO.LOW)
    chri.ChangeDutyCycle(65)
    chle.ChangeDutyCycle(65)
    nebrzdi()
    pidL.setpoint = 3.5
    pidR.setpoint = 3.5
    #chri.ChangeDutyCycle(65)
    #chle.ChangeDutyCycle(65)
    while True:
        offset_L = pidL(calculateL(10))
        offset_R = pidR(calculateR(10))
        PWM_L = offset_L / 4
        PWM_R = offset_R / 4
        PWM_L = int( 45 + (40*PWM_L))
        PWM_R = int( 45 + (40*PWM_R))
        chri.ChangeDutyCycle(PWM_R)
        chle.ChangeDutyCycle(PWM_L)
        print (PWM_L,"-",calculateL(10),"/", offset_L)
        print (PWM_R, "-",calculateR(10),"/", offset_R,"\n")