 state-&gt;<a class="code" href="struct_p_i_d_state.html#a16066d446d47c9e2ca1dadb75b5f439c" title="Derivative State.">lastError</a>) / timeChange;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">double</span> output = (state-&gt;<a class="code" href="struct_p_i_d_state.html#ac6390bc2d074992cc6ca37d132a5262d" title="Proportional factor.">kp</a> * error) + (state-&gt;<a class="code" href="struct_p_i_d_state.html#a23e09706a4abb026e1de279c4904e92