diff --git a/main.lua b/main.lua
index a362ea9..aff73a0 100644
--- a/main.lua
+++ b/main.lua
@@ -864,13 +864,13 @@ function CreatePID(kp, ki, kd)
         minOutput = 0.0,
         maxOutput = 64.0,
         update = function(self, setpoint, pv, dt)
+            if dt <= 0 then return 0.0 end
             
             local error = setpoint - pv
 
             local P = self.kp * error
             
-            local D = 0
-            if dt > 0 then D = self.kd * ((error - self.lastError) / dt) else D = 0 end
+            local D = self.kd * ((error - self.lastError) / dt)
 
             local potential_i = self.integral + (self.ki * error * dt)
 
@@ -880,7 +880,7 @@ function CreatePID(kp, ki, kd)
 
             local clampedOutput = 0
 
-            if self.minOutput <= potential_i and potential_i <= self.maxOutput then
+            if raw_output >= self.minOutput and raw_output <= self.maxOutput then
                 self.integral = potential_i
                 clampedOutput = raw_output
             else
@@ -889,9 +889,7 @@ function CreatePID(kp, ki, kd)
 
             self.lastError = error
 
-            local normalizedOutput = (clampedOutput - self.minOutput) / (self.maxOutput - self.minOutput)
-
-            return normalizedOutput
+            return clampedOutput
         end
     }
 end