Need Help With PID code - Motor Driver

[johnwasser]

@boostedbg

analogWrite(speedPin, -150);

No. analogWrite() only takes values from 0 to 255.

@boostedbg

I notice there is no call for the output to In1 or In2

That is what SetMotorDirectionLower() and SetMotorDirectionHigher() are for. Write those two functions to set the motor direction.

And don't leave out the part about myPID.setOutputLimits().