PID configuration using the Commander

When using a standard callback for PIDController,cmd) the user will have available set of possible commands:

  • P: PID controller P gain
  • I: PID controller I gain
  • D: PID controller D gain
  • R: PID controller output ramp
  • L: PID controller output limit

For example if you have a PID controller added to the commander:

PIDController pid = ....
Commander commander = ...

void onPid(char* cmd){,cmd); }
void setup(){
  commander.add('C',onPid,"my pid");
void loop(){

You will be able to configure (set and get) its parameters from serial monitor:

$ CP           # get P gain
P: 1.0
$ CD0.05       # set D gain
D: 0.05
$ CO           # unknown command
$ CL3.25       # set output limit
limit: 3.25