sbright33:
I do not use dt anywhere in my calculations.
The integral and differential elements both require dt, and the psuedocode you posted seemed to use it correctly; isn't that the algorithm being discussed?
loop
error = setpoint - measured_value
integral = integral + error*dt
derivative = (error - previous_error)/dt
output = Kp*error + Ki*integral + Kd*derivative
delay(dt)