Camera for turning

[Uberbots]

i actually have a bit of code that may help you.

PHP Code:

unsigned char PIkDControl(char Kp, char Ki, char Kd, int error) {
    static int errorTotal = 0;  //there is a better way to do this... meh
    static int prevError = 0;
    int P = 0;
    int I = 0;
    int D = 0;
    
    P = (error*Kp)/100;
    I = (errorTotal*Ki)/100;
    D = ((error - prevError)*Kd)/100;

    errorTotal += error;
    prevError = error;

    return  (Limit_Mix(2000+127+P+I-D));
} 


There are a couple of other tweaks, but i edited them out. you should come across them whilst testing (=