pid controller changes for output and integral clamping

pid.kt

    override fun process(inputs: Array<Double?>, deltaTime: Double): Double {
        val error = (inputs[0] ?: 0.0) - (inputs[1] ?: 0.0)
        val deltaError = error - lastError
        lastError = error
        errorIntegral += error * deltaTime
        val result = Kp * error + Ki * errorIntegral + Kd * deltaError / deltaTime
        if (Ki > 0 && (result > 50.0 || result < 0.0)) {
            val clamp = Math.max(Math.min(result,50.0),0.0)
            errorIntegral = (clamp-Kp*error-Kd*deltaError/deltaTime)/Ki
            return clamp
        } else {
            return result
        }
    }