GitHub

I published small P-I-D control library in micropython for esp32 ( for other platforms should work too):

It is based typical on functional code (as base to OOP) and provide PID algorithms and signal processing based on industrial standard implementation ( but without alarms). Also I added a curve ...
GitHub

kevinmcaleer/arduino_nano_motor_carrier_mp

This is a MicroPython port of the Arduino Motor Carrier library for ESP32 microcontrollers. It provides full control of the Arduino Motor Carrier shield, including DC motors, servo motors, encoders, ...
Electronic Design

Positioning a Linear Servo Motor with a PID Controller

The ABCs of PID control. Considerations for interfacing elements in the electrical circuit to accomplish those parts of the PID function for position control. Firmware code implementation.