[Ether]

Originally Posted by Jared

//set currentSetpoint here
if(currentSetpoint - lastSetpoint > .1){
    currentSetpoint = lastSetpoint - .1;
}
//set your PID controller here
lastSetpoint = currentSetpoint;

Let's test that code.

inputs:
currentSetpoint = .1
lastSetpoint = 1

output:
currentSetpoint is not updated