PID infinite loop with conditional stop

Programming Support VEXcode Pro V5 Text Tech Support
1 
void resetRotations(){
  right_back.resetPosition();
  rightGroup.resetPosition();
}
void drivePID(double distance, double degrees){
  double kP = 0.1;
  double kI = 0.01;
  double kD = 0.001;
  double Err;

  int totalErr = 0;
  int It = 0;
  int pErr = 0;
  int dt = 20;
  int complete = true;

  while(complete){
    //Proportional
    Err = ((leftGroup.position(deg) + rightGroup.position(deg))/2) - distance;
    double P = kP - Err;
    //Integral
    It += (kI * totalErr * dt);
    //Derivtive
    double D = kD * (Err - pErr)/dt;    
    //Moves robot laterally
    double output = P + It + D;

    leftGroup.spin(fwd, output, pct);
    rightGroup.spin(fwd, output, pct);

    //prepares to rerun loop
    totalErr += Err;
    pErr = Err;

    //conditional end
    if(fabs(Err) < 0.05){
      complete = false;
      resetRotations();
    }
    vex::task::sleep(dt);
  }
}
2

PID Controller Explained • PID Explained

The first equation for Derivative is correct, D = kD x (Err – pErr) / dt