PID implementation changed so inputs and output are all 0.0 to 1.0 (or negative, if applicable -- this isn't). getErr() and getPos() use globals to simplify formulas.
PID implementation changed so inputs and output are all 0.0 to 1.0 (or negative, if applicable -- this isn't). getErr() and getPos() use globals to simplify formulas.

tyblu/comp444-random,tyblu/comp444-random,tyblu/comp444-random,tyblu/comp444-random