From 46c04bf64637c9c10e21140231e64213bcdec469 Mon Sep 17 00:00:00 2001
From: templeofshadow <temple@templeofshadow.org>
Date: Mon, 29 Jun 2026 23:35:43 -0500
Subject: [PATCH] fix out-of-scope issue with the D variable in PIDs

---
 main.lua | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

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)