{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "98ef83f5-9309-4c69-90fb-dc33723007c6",
   "metadata": {},
   "outputs": [],
   "source": [
    "d = (reading_now - reading_last)/(time_now - time_last)\n",
    "i = (reading_now + reading_last)/2 * (time_now - time_last)\n",
    "p = reading_now\n",
    "\n",
    "output = (p * k_p) + (i * k_i) + (d * k_d)"
   ]
  }
 ],
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