m_pid = new MiniPID (10, 0, 0); // I = 0
m_pid-> setOutputLimits (-100, 100); // maxError = 0, maxIOutput = 200
m_pid-> setPID (10,10,10); // maxError continues 0

Ioutput=I*errorSum;

.....

else if (maxIOutput! = 0) {
        errorSum = clamp (errorSum + error, -maxError, maxError);
}