The PID Control Learning Platform is based on an M5Stack Fire & BaseX with TOF and Accel Units. Other main parts are taken from Lego NXT Mindstorms (motors, beams, sponge ball, etc.). There two modes: (1) Manual, and (2) PID control. In the manual control mode, a Lego Motor is used as a joystick (the M5Stack reads the motor encoder signal). In the PID control mode, the M5Stack reads the TOF and Accel signals to measure the position of the ball and the inclination of the beam’s angle. The PID control algorithm then tries to bring and keep the ball in the middle of the beam. In the beginning, calibrations are conducted for determining the TOF and Accel offset, etc. This learning platform has some challenges or issues: (1) backslash of the Lego motor, (2) rather noisy readings of TOF and Accel Units, (3) Large friction of the Lego sponge ball. However, prototyping using the M5Stack and Lego are very fast and convenient, no soldering is needed. The UIFlow (Python) development environment was used for programming the M5Stack Fire.
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