I am using cRIO 9073 and i have NI9201 ,NI 9263,Ni9401 with me, i want to do position control of DC motor using PID,please help me how to proceed in this

[Illa]

I am using cRIO 9073 and i have NI 9201 AI module,AO NI 9263, and DIO NI9401,   i want to do position control of DC motor using PID ,i am using 12volts  DC motor ,i have single channel optical encoder of resolution 5.4mm/pulse. please guide  me regarding  this project.............

                    I want to configure NI 9401 as 4 lines PWM output and 4 lines as INPUT ..is it possible,when i try to configure all are changing in to PWM

[Andrew_E]

This sounds like you are doing something very similar to what Waterloo labs did with their Iphone App and Car (they were using the 9403 instead of the 9401, but that is a small difference). Checking out their code and seeing their application architecture, may give you a reference on how to design your own system. You may also want to check out this PID tutorial and look at the PID toolkit.