Your comment regarding the gravity was really insightful for me (I didn't learn PID formally). When I put large values for i, the ball just oscillated and I cou

Your comment regarding the gravity was really insightful for me (I didn't learn PID formally). When I put large values for i, the ball just oscillated and I couldn't see how i is useful. After I added gravity (in my local build, not published), I began to see how the integral affects the control. That's awesome!