[John Gutmann]

Is that what majority of code does for the Intergral part, just reset it once the target is reached? This is one of the only parts I have always been consfused about, because you you have a huge buildup (even if it is capped) your always going to overshoot. Becuase I would still like to have it in there incase lets say i get stuck on a piece of string (just an example) then it will increase the motors until the string breaks.

The other thing I need more help with is the derivative constant, should I make the constant negative? because if it it positive then when you have a big change your just gonna add even more to the output.

thanks,
John