9-Axis IMU LESSON 25: Proportional Control System for Self Leveling Platform

In this lesson we improve our earlier control system for our self leveling platform. In our earlier work, our control system would elliminate system error by constant corrections of 1 degree each time through the loop. In this lesson, we show how to feedback a control signal that is proportional to the error. Hence larger errors will get a larger correction signal, and the error is driven to zero much quicker.

This is the code we developed during this lesson: