Shouldn't this be +, not -?

[mathvav]

Here, there is this line of code:

double output = kp * error + ITerm- kd * dInput;

Shouldn't it be this?:

double output = kp * error + ITerm + kd * dInput;
//                                 ^ (switched from -)

Am I reading this wrong here?

[br3ttb]

please see: http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/