[Python] PI control signal

i am trying to translate my PI control signal 'u[k]' into a duty cycle ouput with error e[k] governing directional output....but i think it could be better.

So I am using if statements to concentrate the value of u between 0 to 100 since that is the dc range. (I cant seem to add an "abs" statement to u or u[k] anywhere to keep it in the postiive realm, so if there is another way please let me know.)

Then the value of u[k] will become the dc cycle throughtout the script. if error e[k] is positive than to rotate CW, if error is negative then to rotate CCW. At the same time, u[k] will contorl the speed of the motor allowing it to slow down or speed up as it reaches the desired angle. let me know

I am still having the error

"ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()"

Below is the snippet of code I am struggling with. Any help is appreciated

def MotorClockwise():
GPIutput(Motor1, GPIO.LOW) # Motor will move in clockwise direction.
GPIutput(Motor2, GPIO.HIGH)


def MotorAntiClockwise():
GPIutput(Motor1, GPIO.HIGH) # Motor will move in anti-clockwise direction.
GPIutput(Motor2, GPIO.LOW)

def MotorStop():
GPIutput(Motor1, GPIO.LOW) # Motor will stop.
GPIutput(Motor2, GPIO.LOW)
GPIutput(PWMPin, GPIO.LOW)


#PI controller settings
Kp = 12
Ki = 8 #integral Time

r = 4.5 #setpoint angle to be achieved
#intialization
e = np.zeros(N+2)
u = np.zeros(N+2)

for k in range(N+1):

e[k] = r - encoder_angle #calucalted error
#print (f"{e[k]} Error Detected")
#time.sleep(.5)

# PI Controller - produces new contrl signal
u[k] = u[k-1] + Kp*(e[k] - e[k-1]) + (Kp/Ki)*e[k] # discrete version of PI controller
# y[k+1] = (1+Ts*a)*y[k] + Ts*b*u[k] #discrete deff equ of process


########################BELOW IS WHERE I AM STRUGGELING

while True:
if (u > 100):
u = 100;
if (e[k] > 0) :
PwmValue.ChangeDutyCycle(u)
MotorClockwise()
if (u < -100):
u = -100;
if (e[k] < 0):
PwmValue.ChangeDutyCycle(u)
MotorAntiClockwise()

if (e[k] == 0) and (r == encoder_angle):
MotorStop()
print(f"Motor Stopped & Holding at {encoder_angle} Degrees")
break

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