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LERP as PID micro

Has versatile use, potentially replacing PID in cases where the Integral could be overflowing.
It is somewhat more straightforward and intuitive to set up than a PID.
E.g. can convert throttle (i.e. SetPoint) and engine RPS (i.e. Process Value) to engine throttle(i.e. Feedback Value).

Code is quite simple, you can take a look. All the heavy lifting is in ~5 lines.
Of course you can use this in your creations, that's why it's here :)
Check out my uploads for similar LERP-based microcontrollers.
I will provide more detailed description if needed.