 PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
 
 // 10 second Time Proportional Output window
-int WindowSize = 10000; 
+int WindowSize = 5000; 
 unsigned long windowStartTime;
 
 // ************************************************

  }
  else // Execute control algorithm
  {
    Serial.println("computing PID");
     myPID.Compute();
  }

   Serial.print("Kd: ");
   Serial.println(Kd);
  
   myPID.SetSampleTime(WindowSize/2);
   myPID.SetOutputLimits(0, WindowSize);
  
  // Run timer2 interrupt every 15 ms so the pulse timing will be accurate
