control theory - Scaling PID (Proportional Integral Derivative) Output -

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i have implemented pid function using formula,

correction = kp * error + kd * (error - preverror) + ki * (sum of errors)

what should keep output between range? 0-255 if disregard value not between 0 255 produces jiggly behavior?

correction = ...  correction2 = correction; if(correction < least) {correction2 = least;} if(correction > most) {correction2 = most;}

then use correction , correction2 output appropriate.

don't correct based on correction2 , wonder why behaves in odd way when reach edge of least <-> most.


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