Progress has been slow during the shutdown. I did find an epic description about PID on Arduino.
http://brettbeauregard.com/blog/2011...-introduction/
I’m not sure what to do with all this information, it’s a bit deep. I also found this site with a working example of a ballancing robot.
https://www.robotshop.com/community/...tor-controller
I modified this code, removed the LCD part, and lined out the quadrature encoder parts. I’m not sure if it will work without the quadrature encoder, I know that’s for detecting direction, it can also be used for timing. I loaded my modified version of this code onto my test setup. It spins the speedometer, but not smooth. I need to understand what’s happening inorder to manipulate the code to do what I want. I also need to work on the equation for the torque line of the motor. Once I get a grasp on this PID code, I’ll incorporate it with my working code.