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Looks like you've hard coded a 0.2 second time step and are forcing the program to wait and abide that time. There is actually a block in craft information called time(Frame Delta Time) that will return the amount of time since the loop last executed in seconds. This might give you a little bit more resolution and make the PID more responsive. Just a little suggestion.
Looks like you've hard coded a 0.2 second time step and are forcing the program to wait and abide that time. There is actually a block in craft information called time(Frame Delta Time) that will return the amount of time since the loop last executed in seconds. This might give you a little bit more resolution and make the PID more responsive. Just a little suggestion.