How to control a servo motor using a PID control with input from current sensor. I am not so proficient in arduino and in coding so can anyone please help me. I want to create a closed loop using pid for controlling servo with current sensor acs70331

Projects General Guidance
20 
#include <PID_v1.h>
#include <Servo.h>

//Define Variables we'll be connecting to
double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1,P_ON_M, DIRECT); //P_ON_M specifies that Proportional on Measurement be used//P_ON_E (Proportional on Error) is the default behavior
Servo servo_1; // servo controller (multiple can exist)

int servo_pin = 3; // PWM pin for servo control
int pos = 0;    // servo starting position
                                                           
                                                               

void setup()
{
  Serial.begin(9600);//start serial monitor to display current values on a serial monitor
  servo_1.attach(servo_pin); // start servo control
   servo_1.write(pos); // move servo to grasp object
  Serial.println("Positioned to grasp");
  //initialize the variables we're linked to
  Input = analogRead(A0);
  Setpoint = 0.68;
 

  //turn the PID on
  myPID.SetMode(AUTOMATIC);
}

void loop()
{
  unsigned int x = 0;
  Setpoint = 0.68;
  float AcsValue = 0.0, Samples = 0.0, AvgAcs = 0.0, AcsValueF=0.0;
  Input = analogRead(A0);
  myPID.Compute();
  //analogWrite(3,Output);
  AcsValue = analogRead(A0);
  Samples = Samples + AcsValue;  //Add samples together
  delay (3); // let ADC settle before next sample 3ms
  AvgAcs=Samples/150.0;//Taking Average of Samples
  AcsValueF = -

  (.259 - (AvgAcs * (5.0 / 1024.0)) )/0.8;
  Serial.println(AcsValueF);
  delay(50);
  if(Setpoint > Input)
  {
    //String in_char = 0;
    //servo_1.write(in_char.toInt());
 //servo_1.write(0);
   analogWrite(3,OUTPUT);
   analogWrite(3,HIGH);
   
  }
  else if(Setpoint < Input)
  {
    //String in_char = "90";
    //servo_1.write(in_char.toInt());
   // servo_1.write(90);
    analogWrite(3,OUTPUT);
   analogWrite(3,LOW);   
  }
}
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