I'm looking for some reasonably simple PID code to do the following:

Inputs:
a) 16-bit setpoint (0000-FFFF)
b) 16-bit sensor (0000-FFFF)
c) P, I & D coefficients (8? 16? bits each)

Output:
16-bit drive (0000-FFFF), which
increases towards FFFF if sensor < setpoint,
decreases towards 0000 if sensor > setpoint,
stands still when sensor = setpoint.

Code would nominally be called every 10mS, but this is not set in stone.

Anything off the shelf out there worth recommending please?

Thanks

Matt
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