PID Help

Hello All. I am trying to write a PID loop library for my high school robotics team. However, there is not a lot of good example code. Using the equations, I wrote a PID loop. However, I am not 100% sure my math is correct. Can anyone offer insight?

https://github.com/xman4242/PID_CONTROL?files=1

submitted by /u/xman4242
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