bugfixes

code/Core/Inc/pid.h

@@ -80,9 +80,18 @@ static inline pid_motor_cmd_t pid_update_motor(pid_i32_t *pid,
 {
     pid_motor_cmd_t cmd;
 
-    // Basic PID (no overflow protection, as requested)
     int32_t error = setpoint - position;
 
+    // Deadband: if within ±3 counts, hold position and reset integrator
+    if (error >= -3 && error <= 3) {
+        pid->integrator = 0;
+        pid->prev_error = 0;
+        pid->last_output = 0;
+        cmd.pwm = 0;
+        cmd.dir = 1;
+        return cmd;
+    }
+
     int32_t p = pid->kp * error;
 
     int32_t i = pid->integrator + pid->ki * error;