[Alan Anderson]

Originally Posted by X-Istence

Where would one stick this in a PID loop?

It doesn't go "in" the PID loop. It's part of the output of the pwm value. Here's one way to do it:

#define minimum 0
#define neutral 128
#define maximum 254
#define deadband 7
  // make sure we won't overflow/underflow the value 0-254 range
  if (value <= minimum+deadband)
    value = value + deadband;
  if (value >= maximum-deadband)
    value = value - deadband;

  // move the value away from neutral by enough to overcome the deadband
  if (value < neutral)
    value = value - deadband;
  if (value > neutral)
    value = value + deadband;