PID cmd_drive can't drive straight?

[Don Reid]

I comented on the use of "/ pid_time" earlier. Someone suggested that this may be a way to deal with wind up, but I think it just makes the itegral correction ineffective after the beginning. It was pointed out that the original code always calls set_pid_stop() which zeros pid_time.

We have removed this dividing by pid_time, and used the conditional integration I posted above. This stops integration while the system is limited. But leaves it working to correct errors later after the system gets close. There will still be
some accumulated integral value that has to be removed by going beyong the
the set point, but much less than otherwise.