This API (version 2.03) follows the Arduino PID library, however there have been some significant updates. as follows:

- Runs a complete PID cycle (
*read-compute-write*) faster than just an analogRead() command in Arduino - Quicker hybrid fixed/floating point math in compute function
- POn parameter controls the setpoint weighting of Proportional on Error and Proportional on Measurement
- Reorganized and more efficient PID algorithms
- micros() timing resolution
- Faster analog read function
*GetError()*function added for diagnostics and control benefits

Algorithm

```
outputSum += (kpi * error) - (kpd * dInput);
```