Hardware: Arduino uno, Arduino motor shield, Potentiometer $($input$),$ Tachometer$($ input$),$ Dc motor $($output$)$

Software: PI controller, Controller and Sensor signal processing program

Q$1$: draw a functional diagram using the components above, show how they are connected to each other.

Q$2$: Derive the formula of the integration implemented for the PI controller in microcontroller

~ control $=$ kp $*$ Enew $+$ kd $*$ dE $/$ dT;

integral$\_$E $=$ ki $*($ integral$\_$E $+$ Enew$*$dT$*1$e$-6)$;

control $=$ control $+$ integral$\_$E;