Is there sample PID control code available from Microchip?

Microchip has example PID control code which you can find in application note "AN964 Software PID Control". This example uses the PID peripheral on an 8-bit PIC16F161X. PID control can be configured for other MCUs to match the example by using MPLAB® Code Configurator (MCC). There is a technical brief entitled "PID Control on PIC16F161X by Using a PID Peripheral" which explains how to use the configurator.

For 16-bit devices, Microchip has a royalty-free library of DSP functions. The library contains the documentation and functions needed to implement a PID algorithm. The DSP library is optionally installed with the MPLAB XC16 compiler. Installation places a help file for the DSP library located at:

…\<install location>\Microchip\xc16\vx,xx\docs\dsp_lib

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