Pretty much, yes. But PIDs are great for linear control, and not so great for nonlinear control, so tuning a PID becomes a full time job compared to keeping thi

Pretty much, yes. But PIDs are great for linear control, and not so great for nonlinear control, so tuning a PID becomes a full time job compared to keeping things "plain code". It's easier to understand what you're tweaking and why. (That said, I'm working on a rewrite atm -it getting turned into just JS- with a follow-up that goes into PID a bit)