BiggerReactor PID Controller

sleep(1)

-- Regler
soll = 0.75
ist = 1
Kp = 1.5
Ki = 0
Kd = 0.5
Ta = 0.1
esum = 0
ealt = 0

local reactor = peripheral.wrap("back")

function PID()
    e = soll - ist
    esum = ((esum + e) > 1 and 1 or (esum + e))
    y = Kp * e + Ki * Ta * esum + Kd * (e-ealt)/Ta
    ealt = e
    if y < 0 then
        y = 0
      elseif y > 1 then
        x = 1
      else
        y = y
      end
    return y
end

function calcRodLevel()
    return (reactor.battery().stored()/reactor.battery().capacity())
end

function setControlRodLevels(level)
    rodLevel = level
    reactor.setAllControlRodLevels(math.floor(rodLevel))
    for i = 0, math.floor(reactor.controlRodCount()*(rodLevel%1))-1, 1 do
        reactor.getControlRod(i).setLevel(math.floor(rodLevel)+1)
    end
end

function printRodLevels(level)
    print("Level to set:")
    print(string.format("%.3f", level))
    print("Level to be set:")
    print(math.floor(level*reactor.controlRodCount())/reactor.controlRodCount())
    local x,y = term.getCursorPos()
    print("Rod:")
    term.setCursorPos(7,y)
    print("Level:")
    local rodAverage = 0
    for i = 0, reactor.controlRodCount()-1 , 1 do
        print(i)
        term.setCursorPos(7,y+1+i)
        rodAverage = rodAverage + reactor.getControlRod(i).level()
        print(reactor.getControlRod(i).level())
    end
    rodAverage = rodAverage / reactor.controlRodCount()
    print("Value set:")
    print(rodAverage)
end

function printStats()
    print(string.format("%.2f".." KiRF/Ingot", (reactor.battery().producedLastTick()/reactor.fuelTank().burnedLastTick())))
end

while true do
    term.clear()
    term.setCursorPos(1,1)
    ist = calcRodLevel()
    level = (1-PID())*100
    setControlRodLevels(level)
    -- setControlRodLevels(75.5)
    printRodLevels(level)
    printStats()
    sleep(Ta)
end