PID Loops

[Chris27]

Computing the derivative is easy as it is just change over time. Computing the integral is a bit more involved. You can use Fourth order Runge-Kutta to estimate the integral

http://mathworld.wolfram.com/Runge-KuttaMethod.html
http://doswa.com/blog/2009/01/02/fou...l-integration/

If you are using a PID function of some library, you probably don't need to worry about computing derivatives and integrals and will probably just need to pass it the desired set point and the current location/sensor reading (like in Labview)