Car keeps sliding/drifting

Help and Feedback Scripting Support
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1

Hello, I want to be able to control how much my car slides. The problem is I don’t know how to get started.

Here is a video of what I don’t want my car to do:
https://gyazo.com/87f90db3771dc2f46cded0478c3ad92c
second video:
https://gyazo.com/c011701732f5f1873ecfaeda1366db4b

I tried calculating the velocity in the axis I don’t want it to slide and using ApplyImpulse to try to stop the sliding but my calculations are wrong.

Here is the script I have right now:

local car = script:WaitForChild("Car").Value
local stop = script:WaitForChild("Stop")

local seat = car.Body.VehicleSeat

local wheelFL = car.Body.WheelFL.PhysicalWheel
local wheelFR = car.Body.WheelFR.PhysicalWheel
local wheelRR = car.Body.WheelRR.PhysicalWheel
local wheelRL = car.Body.WheelRL.PhysicalWheel
local mass = car.Chasis.Mass

local attFL = car.Chasis.Platform.AttachmentFL
local attFR = car.Chasis.Platform.AttachmentFR
local attRR = car.Chasis.Platform.AttachmentRR
local attRL = car.Chasis.Platform.AttachmentRL

local cyFL = car.Chasis.Platform.CylindricalFL
local cyFR = car.Chasis.Platform.CylindricalFR
local cyRL = car.Chasis.Platform.CylindricalRL
local cyRR = car.Chasis.Platform.CylindricalRR

local maxSteerAngle = 50
local steer = 0
local throttle = 0
local tireGripFactor = 0.5

local heartbeat

local function Update(dt)
	
	-- Steer:
	local steerGoal = -seat.SteerFloat * maxSteerAngle
	steer = steer + (steerGoal - steer) * math.min(dt * seat.TurnSpeed, 1)
	local radians = math.rad(90 - math.abs(steer))
	local h =(attFR.WorldPosition - attRR.WorldPosition).Magnitude
	local z = (attRR.WorldPosition - attRL.WorldPosition).Magnitude
	local x = math.tan(radians) * h
	local y = (x + z)
	local outerTurnAngle = 90 - math.deg(math.atan2(y, h))
	if (steer > 0) then 
		attFL.Orientation = Vector3.new(0, steer, -90)
		attFR.Orientation = Vector3.new(0, outerTurnAngle, -90)
	else
		-- Right
		outerTurnAngle = -outerTurnAngle
		attFL.Orientation = Vector3.new(0, outerTurnAngle, -90)
		attFR.Orientation = Vector3.new(0, steer, -90)
	end
	
    --<< THE CODE THAT DOES NOT WORK >>--
    -- Wheel grip/Prevent sliding
	local wheelGlobalVelocity = wheelFL.AssemblyLinearVelocity
	local direction = wheelFL.CFrame.RightVector

	local velocityRight = wheelGlobalVelocity:Dot(direction)

	local desiredVelChange = -velocityRight * tireGripFactor

	local acceleration = desiredVelChange / dt

	local force = direction * mass.AssemblyMass * acceleration

	wheelFL:ApplyImpulse(force)
    --<< END >>--	

	-- Throttle:
	local throttleGoal = seat.ThrottleFloat
	throttle = throttle + (throttleGoal - throttle) * math.min(dt * seat.TurnSpeed, 1)
	local torque = seat.Torque
	local speed = seat.MaxSpeed * throttle
	
	--print(wheelFL.Velocity)
	
	cyFL.MotorMaxTorque = torque
	cyFR.MotorMaxTorque = torque
	cyRL.MotorMaxTorque = torque
	cyRR.MotorMaxTorque = torque
	cyFL.AngularVelocity = speed
	cyFR.AngularVelocity = -speed
	cyRL.AngularVelocity = speed
	cyRR.AngularVelocity = -speed
	
end

Any help is appreciated!