is for the BrickPi3 C++ API a PID regulation available?
It should run locally on either BrickPi3 ARM cores because of regulation speed and accuracy, not to be delayed by SPI data transmission bottlenecks when controlling + regulating multiple motors on multiple BrickPi3 HATs independently and simultaneously in multiple independent threads:
a) appoach target position, then switch off (coast)
b) appoach target position, then brake (by brake power)
c) appoach target position + then hold position against external force perpetually (until cancelled by user)
d) cancel a running PID regulation thread immaturely
kP, kI, kD parameters and setpoints (encoder or sensor values) to be set arbitrarily by the user program
(that is actually what was available for NXC and leJOS)