> How do you handle the I and D term then? You recalculate the D term every iteration, so it doesn’t matter? The ugly truth about the I term is that in practi

> How do you handle the I and D term then? You recalculate the D term every iteration, so it doesn’t matter? The ugly truth about the I term is that in practice people very often leave it at zero. We sometimes call these controllers PD controllers. Especialy in a game where you don’t have sticky actuators and miscalibrated sensors this is usually more than enough for hapiness.