ok in UHU or any other PID control if POSITION= SETPOINT motor must clip +/- for to make break in position.
when you set SETPOINT increment +1 or +XXX then PID must move motor in that direction and when MOTOR come to SETPOINT PID must again clip motor +/- in new POSITION becous POSITION is again = SETPOINT.
If you probe to mechanic move MOTOR SHAFT from locked position PID rutine must give reaction to back motor to lock POSITION.
Your PID control work good maybe with L2XX motor driver chip but with real output driver like HP UHU output stage NOT work.
In uhu sistem you have two pins on output stage.One for motor enable / disable (logic 1 enable , logic 0 disable.That is use for motor protect with current detector via resistor in DRAIN of output MOSFETS.
Second pin is in same time PWM drive / direction.
When PWM on these pin is 50/50% that is 512 on 10bit then motor is in stop condition.When on these pin come PWM from 512-0 you have movement of motor from slow 511 to full spid PWM close 10.And when you go from 513 to 1024 you have slow to full speed of motor at close 1014.
My motor have gear 6.25 motor full turn for one shaft full turn.That mean I must use wariable for position storage from 0 - 6250 which represent full range for one full turn of output gear shaft.
When I use your PID rutine it break motor to go from lock position to minus CCW and it give PWM to motor 511 , 510,...492...400 and move motor CW to lock dead point.But when i move output shaft to CW position your PID giwe PWM 511 and normaly that must be to give 513,515....600 to mowe motor in CCW to motor come to lock point.That is becouse in your position is :
Code:
'*******************************************************************************
'*******************************************************************************
'Calculate the total drive.

pid_Out = pid_P + pid_I + pid_D         'Calculate total drive....

 pid_Sign = pid_Out.15                   'Save Sign
 pid_Out = ABS pid_Out                   'Convert from two's comp. to abs.
if  pid_Out >= pid_Out_Clamp then        'Output is saturated...
    pid_Status_Out_Sat = 1              'set status bit and...
     pid_out = pid_Out_Clamp '  pid_Out_Clamp = 511 

Endif
If pid_Sign then pid_out = -pid_out     'Re-apply sign.

RETURN                                  'And return to sender.
SkipPID:
Ok and your suggestions are good but I was spend 10..hours and my head is like baloon...sorry.
Regards Robert