https://github.com/auralius/arduino-pid-template

A template for implementing PID control in an Arduino Uno
https://github.com/auralius/arduino-pid-template

arduino control-systems pid

Last synced: about 1 month ago
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A template for implementing PID control in an Arduino Uno

• Host: GitHub
• URL: https://github.com/auralius/arduino-pid-template
• Owner: auralius
• Created: 2024-12-18T05:13:44.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-12-27T18:18:26.000Z (over 1 year ago)
• Last Synced: 2025-05-16T20:42:15.786Z (about 1 year ago)
• Topics: arduino, control-systems, pid
• Language: C++
• Homepage:
• Size: 17.6 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
This repository contains a template for implementing a PID control in an Arduino Uno.

**Check the [this note](https://github.com/auralius/arduino-pid-template/blob/main/Notes%20on%20PID%20control%20with%20Arduino.pdf) on the control derivation.**

The PID is implemented as a periodic task for Timer 1. The PID runs constantly (hard realtime) at 1 kHz, while serial communication runs in the background and when the resource is available. 

As an example, we use a cheap N20 DC motor that is already equipped with a quadrature encoder.



The motor was purchased from:  

https://www.tokopedia.com/cncstorebandung/motor-dc-jga12-n20-dc-3-6v-high-torque-micro-dc-gearbox-jga12-n20-with-encoder-71-rpm-a1015

To drive the motor, we use an Arduino Motor Shiled rev 3. The complete system is as follows:



To avoid recompiling the codes every time we tune the controller, we propose the following input configuration:



To log and plot the motor data, we use CoolTerm and gnuplot. The logged data format is as follows:



The following GIF animation shows that the implemented controller works.

![](./demo1.gif)