Here’s the PID equation as everyone first learns it: I’m going to start with what I call “The Beginner’s PID.” I’ll then improve it step-by-step until we’re left with an efficient, robust pid algorithm. It’s going to be a tough slog, but I think I found a not-too-painful way to explain my code. Anyone writing their own PID algorithm can take a look at how I did things and borrow whatever they like.People directly interested in what’s going on inside the Arduino PID library will get a detailed explanation.I’m hoping this will be of use to two groups of people: This time around the plan is to explain in great detail why the code is the way it is. The last library, while solid, didn’t really come with any code explanation. In conjunction with the release of the new Arduino PID Library I’ve decided to release this series of posts.
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