View difference between Paste ID: DD1yV4nU and XH6h8wfX

 -- keeps reactor working efficiently at all times; increases power load when necessary, goes idle at 90% power until below 10%
 
 local function findPeripherals() --searches around for reactor so the computer doesn't have to be placed in a particular way
   local reactor,terminal --also searches for a terminal glasses terminal
   for k,v in pairs(rs.getSides()) do
     if (peripheral.getType(v) == "BigReactors-Reactor") then
       reactor = peripheral.wrap(v)
       print('reactor found!')
       break
     elseif (peripheral.getType(v) == "openperipheral_glassesbridge") and (not terminal) then
       terminal = peripheral.wrap(v)
       print('terminal found!')
     end
   end
   return reactor, terminal
 end
 
 
 local reactor,terminal=findPeripherals()
 
 local curPower,oldPower,controlRodLevel,powerMode,secondsWorked=0,0,100,0,0
 
 local integral=0
 
 powerMode = reactor.getEnergyStored()<9000000
 
 local function reactorActivities()
   term.clear()
   secondsWorked=secondsWorked+1
   print('Yes, I am working. Total time: ' .. secondsWorked .. ' steps.')
   oldPower=curPower
   curPower=reactor.getEnergyStored()
   if oldPower==0 then
     oldPower=curPower+(target*interval)
   end
   if curPower>9000000 then
     powerMode=false
   elseif curPower<1000000 then
     powerMode=true
   end
   if powerMode then
     oldDeltaPower=deltaPower or 0
     deltaPower = curPower-oldPower
     local curError = deltaPower-(target*interval)
     integral=integral+curError
     local derivative=(deltaPower-oldDeltaPower)/interval
     print('Error: ' .. curError)
-    local deltaControlRodLevel=(Kp*curError)+(Ki*integral)
+
-	if deltaControlRodLevel>50 or deltaControlRodLevel<-50 then
+    print('Derivative: ' .. derivative)
-	 if curError<target*10 and curError>-target*10 then
+    local deltaControlRodLevel=math.floor((Kp*curError)+(Ki*integral)+(Kd*derivative))
-	  Kp=Kp/2
+
-	 end
+
-	 if integral>100000 or integral<100000 then
+
-	  integral=0
+
-	 end
+
-	end
+
-	if deltaControlRodLevel>-1 and deltaControlRodLevel<1 then
+
-	 if curError>target*10 then
+
-      Kp=Kp*1.5
+
-	 end
+
-	end
+
-	deltaControlRodLevel=deltaControlRodLevel<0 and math.ceil(deltaControlRodLevel) or deltaControlRodLevel>0 and math.floor(deltaControlRodLevel) or 0
+
   else
     reactor.setAllControlRodLevels(100)
     print("Reactor's nearly full.")
     print("Current status: off.")
   end
 end
 
 local function terminalActivities()
   terminal.clear()
   local wastePercent=reactor.getWasteAmount()/reactor.getFuelAmountMax()
   local fuelPercent=(reactor.getWasteAmount()+reactor.getFuelAmount())/reactor.getFuelAmountMax()
   terminal.addBox(5,5,100,10,0xcc0000,0.8)
   terminal.addBox(5,5,math.floor(curPower/100000),10,0x00cc00,0.8)
   terminal.addBox(105,5,10,100,0xcccccc,0.8)
   terminal.addBox(105,5,10,controlRodLevel,0x303030,0.8)
   terminal.addBox(5,20,100,10,0x303030,0.8)
   terminal.addBox(5,20,math.min(math.floor(100*fuelPercent),100),10,0xcccc00,0.8)
   terminal.addBox(5,20,math.min(math.floor(100*wastePercent),100),10,0x00cccc,0.8)
 end
 
 
 args = {...}
 
 interval = args[1] or 2
 target = args[2] or 100
 target = tonumber(target)
 Kp=args[3] or 0.001*(100/target)
 Ki=args[4] or 0.0001*(100/target)
 Kd=args[5] or 0.00001*(100/target)
 
 interval=tonumber(interval)
 
 if interval<0.5 then
     interval=0.5
 end
 
 while reactor.getConnected() do
-Kp=0.001
+
-Ki=0.0001
+  local event = {os.pullEvent("timer")}
   reactorActivities()
   if terminal then
-target=tonumber(target)
+
   end
 end