Reply To: GyroBoy

[Helmut Wunder]

Dude, as I already wrote you in our German forum, you will …

1st of all need to stop the correct loop time which surely is different from 20 (ms) !
dt= currTime- saveTime;

2nd,
where do you calculate the error (err) – maybe I missed it?
then, what about this line:
integral = integral + (angle * dt);
???
the correct PID formulas are the following:

err = Sollwert-Zielwert
Integr = Integr + err
PWMpwr= (KP*err) + (KI*integr)*dt + (KD*(err-errorold))/dt;

and 3rd,
then you will finally surely need to tune (and fine-tune) your PID constants!

a hint for your PID regulation:
the loop propably will have to look something like the following:

loop:
dt= currTime- saveTime;
saveTime= currTime
err = Sollwert-Zielwert
Integr berechnen (Integr = Integr + err)
PWMpwr= (KP*err) + (KI*integr)*dt + (KD*(err-errorold))/dt;
errorold=err
PWMpwr auf Motoren anwenden
dann wieder loop von vorn!