SensPos - RefPos

diff_pos - 1024 WHEN (diff_pos >= 512) diff_pos + 1024 WHEN (diff_pos <= -512) diff_pos OTHERWISE

IntErr[-1] + PosErr WHEN (UpdClk) IntErr[-1] WHEN (Enable) 0 OTHERWISE

(Ki * IntErr) / 4

Kp * PosErr

Kd * DiffErr

i + p + d

s <= 0

-s WHEN (s < 0) s

s[-1] / 16

Err[-1] WHEN (Clk) PrevErr[-1] OTHERWISE

Err[-1] WHEN (Clk) PrevErr[-1] OTHERWISE

PosErr - PrevError