PID control loops - closed loop feedback

[ChrisA]

Originally Posted by kevin_308

What is the reason for adding the requested position to the PID control output? Is there a need for a feed-forward term in the control loop? Are you scaling the output after pid is returned?

Also, you might want to add overflow checking, just in case.

Overflow will be added as soon as the code itself is working. No scaling is being done to the output of the above code.