This is a demonstration and experiment kit for PID tuning experiments.
- circuit: The circuit design
- CAD: SolidWorks 2016 design files
- STL_3dPrint: STL files needed to be printed
- docs: Documentation
- firmware: The firmware of the ESP32 development board
Circuit design was done using the software named Fritzing, and the schematic is available in PDF format.
Bill of Materials
- ESP32 Dev Board
- TB6612FNG (Motor Driver)
- N20 DC Geared Motor (Recommended Motor: 6v 100rpm)
- 100kOhm Potentiometer
- 5mm Form Board (Size: A4)
- Limit Switches (Optional, previously realized those are not required)
- Vero Board
- Circuit Wire
- A few 3mm screws and nuts
- M3x15 2pcs
- M3x35 1pcs
- 3D Printed Components
- Arrow Gear (PLA, White)
- Motor Gear (PLA, White)
- Motor Bracket (PLA, Black)
- Belt (TPU or Flexible Material)
The complete firmware is available here. The microcontroller used here is ESP32 Dev Board. But it is possible to change the firmware a little and use it with another microcontroller.
Can change following variables to alter the kP, kI and kD constants.
//PID constants double kp = 15; double ki = 0.01; double kd = 0.05;
You can build and upload the firmware using PlatformIO.