View source for Controlling a DC Motor with an Encoder

Controlling a brushed DC motor with an encoder is very common and serves as a good example of the basic programming of xPC models.  Below you will find the xPC model code for controlling a DC motor, like the [[Media:maxon-our-specific-motor.pdf|Maxon 6W motor]] in the lab.

[[image:xPC PID example.jpg|center]]

Here is the code: [[media:xPC PID Example.mdl|xPC PID Example.mdl]]
 
When using this model, you should set the sample time and discrete filter properties by opening File -> Model Properties -> Callbacks -> InitFcn.

[[image:PID example model properties.jpg|center]]