Controller → Code

Design a P/PI/PID controller, watch the closed-loop response (with an optional load disturbance), then export a ready-to-flash sketch for Arduino, ESP32, C, Python, or MicroPython.

// PolySim OS — PID controller for Arduino (10-bit ADC + 8-bit PWM) (generated for your gains).
// Works in 0..100% units to match the PolySim preview. Plug into the PolySim Hardware
// Bridge — it streams "measurement,output" and sets the setpoint from the control slider.
const float Kp = 3.0000, Ki = 2.0000, Kd = 1.0000;
const float dt = 0.0200, Tf = 0.08;   // loop period + derivative-filter time constant (s)
const int   SENSOR_PIN = A0;    // <-- your sensor
const int   OUTPUT_PIN = 9;     // <-- your PWM output
float setpoint = 60.0000;              // percent (0..100)
float integral = 0, prevMeas = 0, dFilt = 0;

void setup() { Serial.begin(115200); pinMode(OUTPUT_PIN, OUTPUT); }

void loop() {
  if (Serial.available()) setpoint = Serial.parseFloat();
  float meas  = analogRead(SENSOR_PIN) * 100.0 / 1023.0;     // → percent
  float error = setpoint - meas;
  integral += error * dt;
  float d = -(meas - prevMeas) / dt; prevMeas = meas;
  dFilt += (d - dFilt) * (dt / (Tf + dt));                      // filtered derivative
  float u = Kp*error + Ki*integral + Kd*dFilt;
  if ((u > 100 && error > 0) || (u < 0 && error < 0)) integral -= error*dt;  // anti-windup
  u = Kp*error + Ki*integral + Kd*dFilt;
  u = constrain(u, 0, 100);
  analogWrite(OUTPUT_PIN, (int)(u * 255.0 / 100.0));
  Serial.print(meas); Serial.print(","); Serial.println(u);
  delay((int)(dt * 1000));
}