e71828 - 2024-06-27

D.OUT: 5000 -> 2214 ->662 -> -888;
X = ACTUAL= -100;
SET_POINT = 0;
Error = 100;
D.OUT = 5000 = 100 / 0.02;
Y = 0.1*(100 + 0.04 * 5000) = 30;

X = ACTUAL= -70;
Error = 70;
D.OUT = (30-70)/0.02 <=> -1500;????
How to explain this?