{"id":2943,"date":"2025-07-20T08:55:33","date_gmt":"2025-07-20T08:55:33","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=2943"},"modified":"2026-01-19T17:42:36","modified_gmt":"2026-01-19T17:42:36","slug":"how-to-control-a-dc-motor-using-arduino-and-pid-algorithm","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/how-to-control-a-dc-motor-using-arduino-and-pid-algorithm\/","title":{"rendered":"How to control a DC Motor using Arduino and PID Algorithm"},"content":{"rendered":"
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  • \n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\tArduino<\/span>, Control<\/span>, Electronics<\/span>, Tutoriales<\/span>\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t<\/ul>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t
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    Controlling the speed and direction of a DC motor precisely is essential for many robotics and automation projects. In this tutorial, we will learn how to use a PID controller to regulate the velocity of two DC motors connected through an L298N driver, with feedback from wheel encoders.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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    Why use a PID controller for motor control?<\/h2>

    DC motors are naturally fast, but they lack precision when it comes to speed control. Without feedback, any change in load or friction causes speed variations. A PID (Proportional-Integral-Derivative) controller helps correct this by adjusting motor commands based on the error between desired and measured velocity. The result is a smoother, more accurate movement \u2014 essential for robotics applications like mobile robots or line followers.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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    \u00a0\ud83d\udcdd<\/span><\/span><\/span><\/span>Components used<\/h3>

    • Arduino Uno<\/p><\/li>

    • L298N H-Bridge motor driver<\/p><\/li>

    • Two DC motors with encoders<\/p><\/li>

    • Power supply (e.g., 12V battery)<\/p><\/li>

    • PID_v1 Arduino library<\/p><\/li>

    • Serial monitor for command interface<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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      \ud83d\udda5\ufe0fSystem overview<\/h3>

      The robot uses:<\/p>

      • Encoders for real-time velocity feedback<\/p><\/li>

      • L298N to drive the motors<\/p><\/li>

      • PID algorithm for speed control<\/p><\/li><\/ul>

        The Arduino reads velocity commands from the serial interface (in rad\/s), computes the motor speed using encoders, and adjusts PWM outputs accordingly. Each motor has its own PID controller with fine-tuned parameters.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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        Arduino Code Structure<\/h3>

        We use the PID_v1<\/code> library to handle PID computations. Here’s an overview of the main blocks of the sketch.<\/p>

        1. Pin Definitions<\/h3>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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        \n\t\t\t\t\n\t\t\t\t\t#define L298N_enA 9\n#define L298N_enB 11\n#define L298N_in4 8\n#define L298N_in3 7\n#define L298N_in2 13\n#define L298N_in1 12\n\n#define right_encoder_phaseA 3\n#define right_encoder_phaseB 5\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-16783b7 elementor-widget elementor-widget-text-editor\" data-id=\"16783b7\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-pm-slice=\"1 1 []\">These pins connect the motors and encoders to the Arduino.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0887672 elementor-widget elementor-widget-text-editor\" data-id=\"0887672\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-pm-slice=\"1 1 []\">2. PID Configuration<\/h3>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7242351 elementor-widget elementor-widget-code-highlight\" data-id=\"7242351\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>double right_wheel_cmd_vel = 0.0;\ndouble right_wheel_meas_vel = 0.0;\ndouble right_wheel_cmd = 0.0;\n\ndouble Kp_r = 11.5;\ndouble Ki_r = 7.5;\ndouble Kd_r = 0.1;\n\nPID rightMotor(&right_wheel_meas_vel, &right_wheel_cmd, &right_wheel_cmd_vel, Kp_r, Ki_r, Kd_r, DIRECT);<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-455a2f8 elementor-widget elementor-widget-text-editor\" data-id=\"455a2f8\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-pm-slice=\"1 1 []\">Each motor has its own PID loop with independent tuning. Similar setup applies to the left motor.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b51cf90 elementor-widget elementor-widget-text-editor\" data-id=\"b51cf90\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-pm-slice=\"1 1 []\">3. Interrupts and Encoder Feedback<\/h3>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6503883 elementor-widget elementor-widget-code-highlight\" data-id=\"6503883\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>attachInterrupt(digitalPinToInterrupt(right_encoder_phaseA), rightEncoderCallback, RISING);\nattachInterrupt(digitalPinToInterrupt(left_encoder_phaseA), leftEncoderCallback, RISING);<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ea88649 elementor-widget elementor-widget-text-editor\" data-id=\"ea88649\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-pm-slice=\"1 1 []\">Each time the encoder triggers a pulse, we increment the counter and update the sign depending on direction.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1665568 elementor-widget elementor-widget-text-editor\" data-id=\"1665568\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-pm-slice=\"1 1 []\">4. Serial Command Interface<\/h3><p>The sketch interprets serial commands of the form:<\/p><h5><strong><code>rp1.25,ln0.75,<\/code><\/strong><\/h5><ul data-spread=\"false\"><li><p><code>r<\/code>\/<code>l<\/code>: right or left motor<\/p><\/li><li><p><code>p<\/code>\/<code>n<\/code>: direction (positive\/negative)<\/p><\/li><li><p>Value: speed in rad\/s<\/p><\/li><\/ul><p>This lets us test motor control via serial without a GUI.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1b4dfa2 elementor-widget elementor-widget-text-editor\" data-id=\"1b4dfa2\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-pm-slice=\"1 1 []\">5. Velocity Computation and PID Update<\/h3><p>Every 100ms, the velocity is calculated based on encoder counts:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-561c362 elementor-widget elementor-widget-code-highlight\" data-id=\"561c362\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>right_wheel_meas_vel = (10 * right_encoder_counter * (60.0\/385.0)) * 0.10472;<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a4bcc3e elementor-widget elementor-widget-text-editor\" data-id=\"a4bcc3e\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-pm-slice=\"1 1 []\">Then, the PID controller computes a new PWM command:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3e9c482 elementor-widget elementor-widget-code-highlight\" data-id=\"3e9c482\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>rightMotor.Compute();\nanalogWrite(L298N_enA, right_wheel_cmd);<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ec4d021 elementor-widget elementor-widget-text-editor\" data-id=\"ec4d021\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-pm-slice=\"1 1 []\">If the command is 0, it cuts off PWM to avoid inertia-related drift.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c108bba elementor-widget elementor-widget-text-editor\" data-id=\"c108bba\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-pm-slice=\"1 2 []\">Visual Overview<\/h2><blockquote><p>(Insert image here: schematic of Arduino + L298N + encoders)<\/p><\/blockquote><blockquote><p>(Insert image here: flow diagram of the control loop \u2014 command -&gt; PID -&gt; motor -&gt; encoder -&gt; feedback)<\/p><\/blockquote><blockquote><p>(Insert image here: screenshot of serial monitor showing rp1.00,ln1.00 commands and feedback)<\/p><\/blockquote>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-46de8a1 elementor-widget elementor-widget-text-editor\" data-id=\"46de8a1\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-pm-slice=\"1 1 []\">Final Notes<\/h2><p>This setup provides an effective way to control DC motors with precision using only Arduino and basic hardware. It lays the foundation for more advanced techniques such as odometry, trajectory tracking, and SLAM.<\/p><p>Tuning the PID values for your own motors is crucial: start with low values and increase until stable. Always monitor your motor temperature and avoid overdriving.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>Controlling the speed and direction of a DC motor precisely is essential for many robotics and automation projects. In this tutorial, we will learn how to use a PID controller to regulate the velocity of two DC motors connected through an L298N driver, with feedback from wheel encoders. Why use a PID controller for motor [&hellip;]<\/p>\n","protected":false},"author":5,"featured_media":2987,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[68,225,69,43],"tags":[59,84,109,83,154,87,282,281,82,179,66,85,223,278,277,279,76,280,64],"class_list":["post-2943","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-arduino","category-control","category-electronics","category-tutorials","tag-arduino","tag-c","tag-control","tag-cpp","tag-dc","tag-guide","tag-h-bridge","tag-hbridge","tag-ide","tag-lbd","tag-learn-by-doing","tag-motor","tag-pid","tag-program","tag-programming","tag-speed","tag-step-by-step","tag-torque","tag-tutorial"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>How to control a DC Motor using Arduino and PID Algorithm - Learn by Doing!<\/title>\n<meta name=\"description\" content=\"Learn how to control DC motors with Arduino using PID and encoder feedback. 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