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Re: PID without the D
If you know how to calculate the P, I, and D errors, combining them is easy. Just use a different gain constant for each and add the outputs together.
For example output = Kgain * Kerror + Igain * Ierror + Dgain * Derror.
Once you have code that does all three, an easy way to disable any of them is to set the gain to 0 for that one.
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