double kp = (0 - 8);double ki = (0 - 1);double kd = (0 - 0);
Here is my suggestion again: read the "How to use this forum" post for hints on how to post.But, if PID is programmed according to convention, these values should never be negative:Code: [Select]double kp = (0 - 8);double ki = (0 - 1);double kd = (0 - 0);Have you considered using K values other than integers? What are the extra zeros doing? Study this overview: https://en.wikipedia.org/wiki/PID_controller
The reason why i made the K-terms negative is because i had to reverse the direction control
Reverse the output direction instead. This option is included in the library that you so desperately avoid.