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Autotune PID c code example

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Vindhyachal.takniki:
1. Looking for some autotune PID C code working ones. Which works directly or some minor modifications.
2. Application is heater.
3.I have tried arduino autotune pid library, but everytime it autotunes different PID values on same settings.
4. Tried some from this also: https://github.com/search?q=autotune+pid  but not working properly.

jonroger:
You can often outperform PID with some simple code.   For example, heater full on or off when there is a large error and switching to small fixed adjustments per sample period to a duty cycle when error is small.

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