#include <pid.h>

struct parmBlk pid;

float pos;

void setup()
{
  pid.epsilon = 0.01;
  pid.dt = 0.01; 
  pid.imin = -4;
  pid.imax = 4;
  pid.kp = 0.1;
  pid.kd = 0.01;
  pid.ki = 0.005;
  pid.pre_error = pid.integral = 0.0;
}

void loop()
{
  pPID(&pid,2.4,pos);   
  //proper timing is your problem
}