(This is Modification #1 in a larger series on writing a solid PID algorithm) The Problem The Beginner's PID is designed to be called irregularly. This causes 2 issues: You don't get consistent behavior from the PID, since sometimes it's called frequently and sometimes it's not. You need to do extra math computing the derivative and integral, since they're both dependent on the change in time. The Solution Ensure that the PID is called at a regular interval. The way I've decided to do this is More

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