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Re: PID need someone to look it over.
Using the automatic diagram cleanup tool made some of it a lot clearer. You put input and output tunnels on the same edge of the case, and it wasn't at all obvious which way the data was flowing until they were rearranged to put things in a more traditional left-to-right order.
I am confused by your use of the dt input to the PID blocks. Can you explain what you intend it to do?
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