BTelsang

clc;
clear all;
close all;

%loading input and output data of the plant here
d1=load('');
%any dataset can be loaded here

%extracting the inputs and outputs from the loaded file
%select the appropriate columns from the loaded file to extract the input

BTelsang

float kp,ki,t,wf,K,K1,kdrive,kpc,kant,kpp,kip,zc,pc;
float m,m1,m2,m3,m4,m5,m6,m7,m8,m9;
float A1,B1,A2,B2,A3,B3,A4,B4,as,eb;
int i;

float pi(float kp,float ki,float t,float x,float y,float r)
{
	float op1,op2,a,b;
	int d;
	a=(2*kp)+(ki*t);

BTelsang

#include <Encoder.h>
#define ENCODER_USE_INTERRUPTS

int driverEN =  11;    //Enable input to the driver
int motorPWM1 =  8;    //PWM signal to the motor pin of the driver
int motorPWM2 = 9;
Encoder myenc(3,7);

void setup(){
  Serial.begin(9600);