diff --git a/pid.c b/pid.c
index df91240..8925f50 100644
--- a/pid.c
+++ b/pid.c
@@ -1,6 +1,4 @@
-#include <math.h>
 #include <stdio.h>
-#include <stdlib.h>
 #include <string.h>
 
 #define BUFFER_SIZE 100
@@ -8,7 +6,7 @@
 typedef struct {
     float Kp, Ki, Kd;                // PID gains
     float error_buffer[BUFFER_SIZE]; // Circular buffer for integral calculation
-    int buffer_index;                // Current index in the buffer
+    int   buffer_index;              // Current index in the buffer
     float integral_sum;              // Running sum of integral terms
     float prev_error;                // Previous error for derivative term
     float dt;                        // Sample time (seconds)
@@ -31,22 +29,17 @@ float pid_compute(PIDController *pid, float setpoint, float pv) {
     float error = setpoint - pv;
 
     // Update integral term using circular buffer
-    pid->integral_sum -=
-        pid->error_buffer[pid->buffer_index]; // Remove oldest value
-    pid->error_buffer[pid->buffer_index] =
-        error * pid->dt; // Store new integral term
+    pid->integral_sum -= pid->error_buffer[pid->buffer_index]; // Remove oldest value
+    pid->error_buffer[pid->buffer_index] = error * pid->dt;    // Store new integral term
     pid->integral_sum += pid->error_buffer[pid->buffer_index]; // Add new value
-
-    // Advance circular buffer index
-    pid->buffer_index = (pid->buffer_index + 1) % BUFFER_SIZE;
+    pid->buffer_index = (pid->buffer_index + 1) % BUFFER_SIZE; // Advance circular buffer index
 
     // Compute derivative term
     float derivative = (error - pid->prev_error) / pid->dt;
     pid->prev_error = error;
 
     // Compute PID output
-    float output = (pid->Kp * error) + (pid->Ki * pid->integral_sum) +
-                   (pid->Kd * derivative);
+    float output = (pid->Kp * error) + (pid->Ki * pid->integral_sum) + (pid->Kd * derivative);
 
     return output;
 }
@@ -61,13 +54,10 @@ int main() {
 
     for (int i = 0; i < 50; i++) {
         float output = pid_compute(&pid, setpoint, pv);
-        printf("Iteration %d: Setpoint: %.2f, PV: %.2f, Output: %.2f\n", i,
-               setpoint, pv, output);
+        printf("Iteration %d: Setpoint: %.2f, PV: %.2f, Output: %.2f\n", i, setpoint, pv, output);
 
         // Simulate process variable update
         pv += output * 0.1f;
-        if (fabsf(output) < 0.4)
-            setpoint = 150;
     }
 
     return 0;