Experience — or at least education — often makes a big difference to having a successful project. For example, if you didn’t think about it much, you might think it is simple to control the ...

"Windup" occurs when the integral term grows indefinitely while the actuator is saturated (at max limit). Standard PID calculates d(Error)/dt. This library calculates ...

A few weeks ago, I installed an automatic water heater switch to my bathroom, but it was a crude device. What I really want to do is design a universal heater driver. That basic idea can be adapted to ...

Stepper motors are a mainstay in precision control systems, valued for their simple open-loop operation and high torque at low speeds. Commonly found in CNC machines, 3D printers, and robotics, they ...

Flight_controller.ino` — Main flight controller sketch (sensor reading, complementary filter / attitude computation, cascaded PID, motor mixing, arming logic, telemetry). setup.ino` — Setup and ...