Gregory Holst, a Biomechanical Graduate Research Assistant at Georgia Institute of Technology, came up with an impressive visual demo of tuning PID control loops, using an MSP432.

The demonstration in this video will show you the effect of proportional, derivative, and integral control on a real system. It’s a DC motor connected to an optical rotary encoder (quadrature) and is controlled by a digital control loop implemented on a TI Launch Pad MSP432. It uses a series of timers and interrupts to generate the PWM signals to the H-Bridge motor driver, read the pulses from the encoder, and calculate the control effort using a PID control algorithm. It also implements an anti-windup algorithm to improve the system stability since this is a real system and the motor saturates easily.

Code can be downloaded at his github page.

Via : TI E2E Community Blog