term_p="$(try echo "$tune_p * $error" | bc -l)";
#yell "DEBUG:term_p:$term_p";
term_i="$(try echo "$tune_i * $sum" | bc -l)";
term_p="$(try echo "$tune_p * $error" | bc -l)";
#yell "DEBUG:term_p:$term_p";
term_i="$(try echo "$tune_i * $sum" | bc -l)";