PD proportional controller code for Orangutan

In keeping with the philosophy that users will have to help each other with code examples for Pololu products, I’ve posted an example of proportional/derivative (PD) speed control for a small robot controlled by the Orangutan–the code would be ideal for the Baby Orangutan as an independent motor controller unit.

I also discuss how to tune the parameters Kp and Kd for the algorithm. It is nice to see a robot chugging up a variable slope at constant speed!

See the web page


for downloadable code and discussion of the algorithm. Comments, suggestions & questions are always appreciated.

Cheers, Jim

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