JS PID Controller

PID.js

class PIDController
{
  constructor(Kp, Ki, Kd) {
    this.Kp = Kp;
    this.Ki = Ki;
    this.Kd = Kd;
    
    this.deltaError = 0;
    this.sumError = 0;
    this.lastError = 0;
    this.lastT = this.getNow();
  }

  run(error) {
    const now = this.getNow();
    const deltaT = this.lastT - now;
    this.lastT = now;
    
    if (deltaT != 0) {
      this.deltaError = (error - this.lastError) / deltaT;
    }
	this.sumError += error * deltaT;
	this.lastError = error;

	return this.Kp*error + this.Ki*this.sumError + this.Kd*this.deltaError;
  }
  
  getNow() {
    return performance.now();
  }
}