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Arduino PID

This is a basic implementation of a PID controller on an Arduino.

To replicate this, wire up the system as shown below:

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Rover

**THIS IS THE OLD CODE, NEW CODE HERE: https://github.com/careyi3/rover **

To run as a service copy rover.service to the location /lib/systemd/system/. From here then run the following two commands.

sudo systemctl enable rover
sudo systemctl start rover

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#define ENCODER_OPTIMIZE_INTERRUPTS

#include <AccelStepper.h>
#include <PID_v1.h>
#include <Encoder.h>

const bool inverted = false;
const int stepMode = 3;
const int stepModes[6][5] = {
  {5, 1, 0, 0, 0},

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#include "Wire.h"
#include "Kalman.h"

const int MPU_ADDR = 0x68;
const double MICRO_SECOND = 1000000.00;
const double INTERVAL = 1000.0;

double dt, timer = 0.0;

double gyro_y_offset, accl_x_offset, accl_z_offset;

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#include <DigitalIO.h>
#include <PsxControllerHwSpi.h>

const byte PIN_PS2_ATT = 10;
PsxControllerHwSpi<PIN_PS2_ATT> psx;

boolean connected = false;
byte lxOld, lyOld, rxOld, ryOld;
PsxButtons oldButtons;

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#include <AccelStepper.h>

const int speed = 700;
const double accl = 0.05;

AccelStepper stepper = AccelStepper(AccelStepper::DRIVER, DD3, DD2);
long prev_speed;

void setup()
{

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using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
class Solution {

    static void Main(String[] args) {
        string a = Console.ReadLine();
           string b = Console.ReadLine();