Q1 2017 Rocket active stabilization system update; Finally have working PID for positional control of a DC motor! New gear, livestreams and the first program sponsor!

After nearly 4 and a half months of late nights, caffeine fueled jam sessions, one livestream(more on that later!) and more frustration than anticipated I FINALLY figured out implementation of PID for positional control of a DC motor with an encoder. More details after the break including a breakdown of problems I ran into, some shiny response graphs and most importantly; SOURCE CODE!?!?!

Motor control testbed using TB6612FNG motor driver