lift.c

int previousError = 0;
float errorSum = 0;
int powApplied = 0;

void liftPID(int target) {
	int error = target - SensorValue[sensorLift];
	int derivative = error - previousError;
	powApplied = (error*2.0 + derivative*0.3);
	setLift(powApplied);
	previousError = error;
}