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PID is a loop. If spring moves something, PID will detect it and it will correct it immediatly. Don't confuse error variable with PWM value. In my project it works fine and it responds to dynamic...

As I understand, this PID checks only position.
To control speed, you should use another routine to control position AMONG TIME (speed), using this PID routine as position control. I did that and...

First step (get), you Get variables from hardware (via pot, encoder, ...)
Second step (control), you correct those variables (PID between desired and got variables)) to reach your desired speed,...

Thank you so much Henrik, now I got it!
I'll test it as soon as I can. Then i'll bother you again :)

I have another question in a new thread, not related to PID, but related to counting position....

hi Henrik;
i see you are a motor control specialist..
first of all thank you for sharing your work on your PID routine. About it i have some questions to understand.
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question1:
i don't...