laadams85:
No, you calculate the error and feed it into a PID routine. Libraries may do the calculation for you, but the versatility of the PID is that it is irrespective of the inputs/outputs. It is really just a zero finding scheme on the error function.
hmm... according to my notes from reseearch, this is the PID formula:
error = P * Kp + I * Ki + D * Kd);
P, I, and D
are calculated like this:
P = Current position - Set position
D = P - Last_P
So, perhaps we are defining error differently? As my notes have error as the entire PID formula.
Is error in your terms equal to currpos - setpos?
Thanks