PID Controller — A small embedded control-loop library, built for tight loop budgets.

A minimal PID controller implementation for embedded targets: fixed-point friendly, no dynamic allocation, no dependencies beyond the standard library. Originally split out of the TERRAPOD dosing-pump code once it became clear the loop itself had no project-specific logic in it.

Current state

Stable and in use across several other projects on this site. Interface is considered frozen; changes from here are bug fixes only.