https://circuitdigest.com/microcontroller-projects/arduino-based-encoder-motor-using-pid-controller

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https://github.com/natnqweb/Motor_PID/tree/V3.0.0

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https://electricdiylab.com/how-to-connect-optical-encoder-with-esp32/

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https://roboticx.ps/product/n20-dc-motor-with-magnetic-encoder-6v-530-rpm/