A simple 2 line(when compiled) PID for the game StarBase, with "simplified" tuning instructions.

Approach Example.nolol

// Approach Example.nolol

// PID settings
start> 
KP=0.3 //Some value you need to come up (see tuning section below)
KI=0.01 //Some value you need to come up (see tuning section below), not always needed leave at 1 if not used
KD=4 //Some value you need to come up (see tuning section below), not always needed leave at 1 if not used
bias=0
desired_value=10 // Set to what you want your desired value to be, AKA Set Point
IterationTime=0.2*2 // 0.2*number of line in compiled yolol code
ErrorPrior=0
IntergralPrior=0

macro InvokePid(Input) block
	
	err=desired_value-Input
	integral=IntergralPrior+err*IterationTime
	derivative=(err-ErrorPrior)/IterationTime
	
	Output=KP*err+KI*integral+KD*derivative+bias
	:FcuF=Output
	:FcuB=-Output // Changes negative to positive
	IterationTime=IterationTime
	ErrorPrior=err
	IntergralPrior=integral
	
end
if :Ap==0 then
	goto start
end
InvokePid(:RFD)

StarBasePID.nolol

// StarBasePID.nolol

// Based on: http://robotsforroboticists.com/pid-control/

////// Tuning //////
////// KP //////
// KP          = The proportional term is your primary term for controlling the error
// KP to big   = weird oscillations that severely overshoot the desired value
// KP to small = you might never minimize the error and not be able to respond
//               to changes affecting your system, unless you are using KD and KI terms
////// KI //////
// KI          = The integral term lets the controller handle errors that are accumulating over time.
//               This is good when you need to handle errors steady state errors.
// KI to big   = you are trying to correct error over time so it can interfere with
//               your response for dealing with current changes
// KI Note     : This term is often the cause of instability in your PID controller.
//
////// KD //////
// KD          = The derivative term is looking at how your system is behaving between time intervals.
//               This helps dampen your system to improve stability.
//               Many motor controllers will only let you configure a PI controller.
//               In some cases this can be negative.

// PID settings

KP=1 //Some value you need to come up (see tuning section below)
KI=1 //Some value you need to come up (see tuning section below), not always needed leave at 1 if not used
KD=1 //Some value you need to come up (see tuning section below), not always needed leave at 1 if not used
bias=0
desired_value=10 // Set to what you want your desired value to be, AKA Set Point
IterationTime=0.2*2 // 0.2*number of line in compiled yolol code
ErrorPrior=0
IntergralPrior=0
macro InvokePid(Input, Output) block
	
	err=desired_value-Input
	integral=IntergralPrior+err*IterationTime
	derivative=(err-ErrorPrior)/IterationTime
	
	Output=KP*err+KI*integral+KD*derivative+bias
	IterationTime=IterationTime
	ErrorPrior=err
	IntergralPrior=integral
	
end
InvokePid(:MyInput,:MyOutput)