Question1: How is the Setpoint value of 60 and its Min of 20 and Max of 150 obtained?
Question2: Is Kp refering to the present error (Tuning Parameter) and how is it derived?
Question3: What is this op1=e1*Kp? why is the e1 value (difference between setpoint and actual distance) multiplied by Kp?
Question4: And lastly opx=1500-op1+op2, what is is about?