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PID controller algorithm
miss computed the _derivative()
influence on PID with _kp
gain. Update the code to use _kd
gain
Write methods to get out errors
and accumulated errors
for plotting purpose by example. Could be useful for PID gain
selections
add a control line in setters to prevent gains to be set at negative value
Update the code to filter out noise in derivative branch
Add the library description to readme file
compute new output only on sampling time interval to reduce computational load.
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