A couple of months of my graduate course in just 10 minutes! :-D ... Thanks for sharing!

I looked into it a bit more, the disadvantage of this method is that it is only looking for encoder A pin rising. This means that wiggling the motor back and forth a little looks like the motor is moving continuously forwards. It also counts more than one step if the input bounces. Instead: checking for all four quadrature transitions fixes these problems and means 4x as many pulses per rotation which means you can be more precise. I added these lines at the beginning: #define readA bitRead(PIND,2)//faster than digitalRead() #define readB bitRead(PIND,3)//faster than digitalRead() I changed the attachInterrupt line so that it triggered on CHANGE rather than rising, and added another line for the B encoder pin: attachInterrupt(digitalPinToInterrupt(ENCA),readEncoderA,CHANGE); attachInterrupt(digitalPinToInterrupt(ENCB),readEncoderB,CHANGE); And I changed the functions triggered by the interrupt to this: void readEncoderA(){ if(readB != readA) { posi ++; } else { posi --; } } void readEncoderB(){ if (readA == readB) { posi ++; } else { posi --; } } This eliminates bouncing (posi will just count forwards and then backwards with each bounce), increases precision as you get 4x as many interrupts triggered per rotation, and prevents you from 'tricking' the encoder by moving the motor back and forth by a small amount. Credit to Cattledog on the Arduino forums in 2017.

This is a great tutorial: short and very precise explanation, yet covering a vast area on the subject. Pleaee make more videos like this.

One of the best videos I have come across. The combination of the hardware setup and linking this to the block diagram and finally linking block diagram to code is an inspiring idea.

The near-perfect tutorial. Clear, concise, the animations are fluid and easy to understand, and straight to the point. Nice!

Nice combination of electronics, maths and programming. I'd come across those PID values in my Sitech motor controller and now I know what they are ! Thanks for clear presentation and explanation.

This, in comparison with many other videos on the subject, is very well done!

Whole PID, encoder, Basic control theory with real applications under 10 minutes. Thank you and you are very well on educating.

As a hobbyist I was struggling to get position control working on diy toy robot build, and this video has cleared a lot of questions for me. Thank you for the share!

I just discovered your channel -- it's fantastic! I appreciate your clarity, pace, and your choice of what to focus on in each video. I hope there will be more videos in the future!

Feel like I struck gold finding this video - huge thank you for making it!

Keep the hard work , I love how you connect the theoretical part with hand on application 😍

The video is very well produced, the code explanation is amazing and made me (as a mechanical engineer with rudimentary understanding of motor control) feel capable of implementing this, well done!

Extremely well done. Have been utilizing an adaption of this PID control loop for leveling. Instead of using an encoder I pull data from a MPU6050 using the MPU6050_light library usually included in the Arduino IDE. Then Set the target to 0. It works really well!

Super clear and straight to the point, I hope you're going to do more of these!

I have to commend you on the best tutorial I have seen on motor control using PID! As others have mentioned you are clear concise and to the point. Your animations and diagrams support your lecture perfectly. Your progressive coding makes it easy to understand your logic flow....given the real world, converted to math, and then to software. Kudos!

Hi Curio, theses videos are amazing! Please keep up the great work!

There's an update to the tutorial to include the volatile directive and the ATOMIC_BLOCK macro. These prevent potential issues with the interrupt. See this page for an example: www.arduino.cc/reference/en/language/variables/variable-scope-qualifiers/volatile/

One of the best technical content I've ever seen on youtube. Please keep posting content!

Excellent Video. It really was what i was searching for!!

that was amazingly informative thank you very much for this magnificent work, and the way the overshoot was eliminated was surprisingly accurate, I'll make sure to subscribe.

This is a really great video. Thank you! It's very helpful for my latest project.

very well made video. consise, straight to point, focused, visual and audio on point. very good. edit: subscribed.

Your KZfaq channel has a bright future. Excellent content. Keep up the good work!!

Thank you for the very concise and clear explanation :) really looking forward to use this in my next project.

Impressively well done tutorial. I hope you find the motivation and time to do more of these

Amazing this is very helpful!

Excellent ! An objective, clean explanation and good narration as well!

Another nearly perfect tutorial. Thanks!

Another great video CR, thanks a bunch!

Just a perfect presentation and Tutorial, thanks very much.

Thanks for your super clear example ,fantastic!!

Excellent video. So much useful information in a very concise delivery.

Helped me a lot. The best video on this topic. Have subbed without thinking. You deserve a lot more audience. Keep going 👏👏👏

Excellent video . Thank you!

Nice video... Make such videos which gives practical implementation based on Theory.. looking for more videos..keep it up

you are great Curio, made a great simple to understand tutorial

Nice narration - watched it a long time ago but made more sense this time as I have learned more !

When my professor told me he can´t tell me how to implement pid into a microcontroller I thought it must be a very hard thing. Finally I came across your video and this was poor luck because my search on youtube gave nothing like yours. So thank you very much for taking your time to explain all of this. I like control theory because it´s hard to understand but If you understand it makes you proud.

oh wow! a future Multi-million subscriber channel in it's infancy! what an honor! Amazing content!

Thanks for clear presentation and explanation

Thanks to Heavens I found you! THIS IS WHAT I TRULY NEED! Thank You SOOOOOO MUCH.

This was extremely helpful, thank you so much!

it is very clear and percise video and let me say ur voice is very comfort to listen to

Thank you so much for sharing!!!! Greetings from Panama!!!! 🇵🇦

very well delivered, easy to understand

wow, what a magnificent combination of hardware and software to explain the PID control. It's was a dream to understand it, and I got it now. How CAN THANK YOU💞

Dry well presented tutorial - Thanks for sharing.

Excellent Video! Please make more!

Infinitamente agradecido, agradecido y muy agradecido.. Bendiciones para Usted!!!

OMG this is a well very made video, congrats!!

the easiest to understand video out there about pid motor position control. good job!

Great video tutorial! A lot of the PC CNC controllers have step and direction outputs for stepper motor drives, thought it might be pretty easy, if another interrupt is available, to change the setpoint based on step and direction inputs, should be superior to a stepper motor because of the closed loop.

Wonderful explanation of hardware and software

Impressive tutorial thank you ❤

I so appreciate that you wrote the code out rather than called library functions - I've been working to control a motor with encoder via an MCU that doesn't work with Arduino IDE so seeing the code written out really helps.

This is awesome, and you are a good instructor and a good presenter. Very good content flow esp with lots of diagram & graphics to add with the presentation flow 👍..love it. Thanks for making this tutorial ❤

Thank you for sharing this knowledge, I think can help very much

one of the most useful videos about the dc motor position control! thank you.

this video is an other level of programming, that make an other challenge and make me better programmer. Thank you very much

Awesome!!! Best video I have ever seen🖤

great tutorial. you saved my life. thank you

very useful video, keep up the good work!!!!

So well done! Saved me a lot of time...

Excellent introduction.

Thank you for your explanation!! Have a nice day Have a nice year! 😊

I love you. It's very interesting and useful.

Thank you. I am reusing encoders from old photocopy machines. this will help.

Fantastic video! Thanks !

The best video I have seen. Thanks a lot.

This was so good.

What a great and clear video!

best tutorial ever!

Really good explanation 😉

Thank you so much for explaining this so clear and concisely, the video, the animations, the coding and your voice are nice, and it became so clear to me I think I could do it on my own now!

Programming is best with practical experience . 👍👍👌👌👌

this is realllly fantastic!

Best i ve ever seen -thx a lot

that was extremely useful, you have bright technical and teaching skills. i hope that you will continue this great work. Warmest Thanks.

Impresionante video. Con una gran explicación y unas animaciónes que en verdad hace todo mucho mas fácil y entendible (Awesome video. With a great explanation and an animations that really makes everything much easier and understandable). Tuve algunos incovenientes para adaptarlos a mi proyecto y estuvo siempre atenta para ayudarme a solucionarlos.(I had some inconveniences to adapt them to my project and she was always attentive to help me solve them.) Thank you so much

WOW such a great video and explanation. Def just gained a subcriber.

I need more videos.It's awesome.

great topic, thanks 👍

one of the best tutorials I have ever watched. Have you thought of doing an MPC video?

at 2:26 trajectories are wrong. When she said clockwise, it meant counter-clockwise. When she told counter-clockwise, it meant clockwise. We can see the results at 2:47. When she turns the arrow clockwise, the number goes to negative and vice versa. I'm fan of your channel by the way :)

Wow, great tutorial!!

Very nice video, and close to what I'm looking at doing. My plans so far will be with any Arduino board, I'm wanting to have a AS5600 read a direction/step every second and write/save that info, so an average can be calculated for later use. Then once a minute or so read another AS5600 with a Stepper motor and have the stepper match the average direction/steps of the other one.

your video is wonerful, helps me a lot thank u very much

Just LOVE YOU!!!

great video.. I wish you continue that great work

Very nice and good explanation.

Que bello video y que hermosa exposición

You got the same voice tone of a lady on "Element 14" . Although it's a VERY PRECISE tutorial thank you and keep going , I'll test this with a infrared encoder

You are amazing 👏 Now I'll have to study more 😅🇦🇺

Thanks, worked like a charm

great video thank you for sharing

Awesome video!! Make some more!!

Way cool...you saved me time...yeah to finite differences math trick ....pid loop for robot arm using Irobot....it's big brother picked up Fukushima radioactive ....

👏 👏 👏 really good instructions, 🙏 thanks ❤️

This is so good omg, thank you