diff --git a/main.lua b/main.lua
index 84b8750..f9524d3 100644
--- a/main.lua
+++ b/main.lua
@@ -868,7 +868,9 @@ function CreatePID(kp, ki, kd)
             local error = setpoint - pv
 
             local P = self.kp * error
-            if dt > 0 then local D = self.kd * ((error - self.lastError) / dt) else D = 0 end
+            
+            local D = 0
+            if dt > 0 then D = self.kd * ((error - self.lastError) / dt) else D = 0 end
 
             local potential_i = self.integral + (self.ki * error * dt)