Unity C# PID Controller Example

PIDController.cs

using System;
using UnityEngine;

namespace Lang.Clomp.Infrastructure
{
    [Serializable]
    internal class PIDController
    {
        private readonly float cumulativeErrorLimit;
        private float cumulativeError;
        private float lastError;

        public float Proportional = 1;
        public float Integral = 0.01f;
        public float Derivative = 0.1f;

        public PIDController(float cumulativeErrorLimit)
        {
            this.cumulativeErrorLimit = cumulativeErrorLimit;
        }

        public float Calculate(float deltaTime, float target, float current)
        {
            var error = target - current;
            var errorGradient = (error - lastError) * deltaTime;
            cumulativeError += error * deltaTime;
            cumulativeError = Mathf.Clamp(cumulativeError, -cumulativeErrorLimit, cumulativeErrorLimit);
            lastError = error;

            return Mathf.Clamp((Proportional * error) + (Integral * cumulativeError) + (Derivative * errorGradient), -1, 1);
        }
    }
}