PID Control Using BeagleBone Blue

I built a PID controller in Python using a BeagleBone Blue. I plan to make an open source version and hope to show it at Maker Faire Bay Area in May.  The test frame is fabricated from welded steel tube and skateboard bearings. On one end is a motor, on the other a counterweight, and in the middle is the computer and battery.  The open source version will use easy to obtain materials and will not involve welding. The open source Python code is at the bottom of this page. PID means P roportional, I ntegral, D erivative. The controller has a feedback loop that measures how far the lever arm is from a target angle, then adjusts the motor by using: P = adjustment proportional to error I = adjustment based on cumulative error over time D = adjustment based on change in error over time You can tune the control by changing the relative amounts of adjustment for P, I, and D. Examples Here is the test frame running PID: Here is the test frame running I only: Here is th