Tinkercad Pid Control __exclusive__ -

output = (Kp * error) + (Ki * integral) + (Kd * derivative); // Constrain output for PWM (0-255) pwmValue = constrain(output, ); analogWrite( , pwmValue);

Appendix: Full Tinkercad circuit schematic (DC motor + rotary encoder + L293D driver) and complete Arduino sketch available in the public Tinkercad PID library. tinkercad pid control

// Other tasks can run here

Happy controlling.