you are fairly right .....
i didnt add the set point to the PID equations (so set point dosn't exist and equals 0 ,already as you said)
so PIDs are just the mathematical on error which in my case ( gyro signal values only)
and as you mentioned i added the setpoint away from PIDs somewhere in the code
now how come is this still the basic standard PID sys?
standerd PID takes the difference between the gyro or balance sensor and the set point AND MULTIPLY IT BY
THE GAIN! in my case gain involves just with the gyro values . because i saw that there is no need to MULTIPLY
THE GAIN WITH THE SETPOINT ( set point is already in error value which is the difference between the gyro and the set point )
summary :
standerd PID error =the difference between the gyro and the set point
so P = GAIN* error
I =GAIN* integral of ( error)
D = GAIN * deferential of (error)
my PID error = the gyro values
so P = GAIN* error
I =GAIN* integral of ( error)
D = GAIN * deferential of (error)
there is no need to calculate the difference which will be multiplied with gains!
i wish i am understood now!