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dc servo PID code or block diagram help

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Electro nS

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can anyone provide a link for an opensource project maily the code for Atmega /or PIC for a servo controller/amplifier .

i want to understand how the step and direction inputs are being transfered in speed and postion .

if someone donot have a code but can simplify with a block diagram that would be great .

NOTE : I am NOT a newbie . so donot have to talk about the silly or obvious staff . I just want the idea

thanks in advance guys
 

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