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Great work, @t0mpr1c3 ! But I'm having problems to compile it on newer Arduino IDE (1.6.x). `C:\Users\Acer\Documents\Arduino\libraries\PID_AutoTune_v0\PID_AutoTune_v0.cpp:20:58: error: variable 'tuningRule' must be const in order to be put into read-only...

> Great work, @t0mpr1c3 ! > > But I'm having problems to compile it on newer Arduino IDE (1.6.x). > > `C:\Users\Acer\Documents\Arduino\libraries\PID_AutoTune_v0\PID_AutoTune_v0.cpp:20:58: error: variable 'tuningRule' must be const in order...

Didn't really understand how to do it. Could someone explain it again? Thanks!

Really nice =), but my problem isn't understanding the PID parameters, but how to DISPLAY each term. I ended modifying: dispKp= kp ; dispKi= ki; dispKd= kd; And calculating on...

Where's the error (what file?)? Couldn't locate it. Wasn't it changed to lastTime and corrected?

You are right! The original line 54 of Relay Example is like the first one you said and your point makes sense. If millis(s) - windowStartTime were = WindowSize, Arduino...

> interesting! the library is a straight-up port of another library so it's possible that there's a mistake there that I wasn't aware of. The pid library uses parallel form...

I tried using your code, Wei1234c, but it returns me this error: ``` Archiving built core (caching) in: C:\Users\EDUARD~1\AppData\Local\Temp\arduino_cache_379640\core\core_arduino_avr_uno_0c812875ac70eb4a9b385d8fb077f54c.a C:\Users\EDUARD~1\AppData\Local\Temp\ccGD3Nq5.ltrans0.ltrans.o: In function `main': C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino/main.cpp:43: undefined reference to `setup'...