void computePID(PID *pidToCompute, float processVariable){
    float output;
    float error = pidToCompute->setPoint - processVariable;
	pidToCompute->integral += error * 0.01;
	if(pidToCompute->integral != 0){
        if(pidToCompute->integral > pidToCompute->integralMaxValue) pidToCompute->integral = pidToCompute->integralMaxValue;//stop integral windup
        if(pidToCompute->integral < (-1 * pidToCompute->integralMaxValue)) pidToCompute->integral = -1 * pidToCompute->integralMaxValue;
	}
	float derivative = (processVariable - pidToCompute->previousError) / 0.01;
	derivatived = (processVariable - pidToCompute->previousError) / 0.01;
	pidToCompute->previousError = processVariable;
	output = (error * pidToCompute->pGain + (pidToCompute->integral * pidToCompute->iGain) + (derivative * pidToCompute->dGain));
	if(output > pidToCompute->pidLimits) output = pidToCompute->pidLimits; // limit the pid output
	if(output < (-1 * pidToCompute->pidLimits)) output = -1 * pidToCompute->pidLimits;
	pidToCompute->pidOutput = output;
}