엔코더(1/150) 달린 DC모터 PID 제어를 하려고하는데 시리얼모니터에 각도 값을 넣으면 계속 회전만 하네요 어떻게 해야할까요?
 
//MCU timer
uint16_t MCU_TIMER_start;
#define MCU_CONTROL_RATE 10
void timer_loop(unsigned int mcu_ms)
{
  while((uint16_t)millis()-MCU_TIMER_start <= mcu_ms);
  MCU_TIMER_start = (uint16_t)millis();
}

//Pin define
const int motorPWMPin = 6;
const int motorDirPin1 = 8;
const int motorDirPin2 = 9;
const int encoderPinA = 2;
const int encoderPinB = 3;

//Dedine const
int encoderPos = 0;
const float ratio = 360./150./12.;

//PID control variable
float Kp = 1;
float Ki = 0;
float Kd = 0;
float Ltime = 0.01;
float targetDeg = 0;
float motorDeg;
float error;
float P_control, I_control, D_control;
float control;
float error_previous;

//Set encoder
int flag = 0;
void doEncoderA() { encoderPos += (digitalRead(encoderPinA) == digitalRead(encoderPinB)) ? 1: -1;}
void doEncoderB() { encoderPos += (digitalRead(encoderPinA) == digitalRead(encoderPinB)) ? -1: 1;}
String gainData;
float Target;

//set motor
void doMotor(bool dir, int vel)
{
  digitalWrite(motorDirPin1, !(dir));
  digitalWrite(motorDirPin2, dir);
  digitalWrite(motorPWMPin, min(vel, 255));
}

void setup()
{
  pinMode(encoderPinA, INPUT_PULLUP);
  attachInterrupt(0, doEncoderA, CHANGE);
  pinMode(encoderPinB, INPUT_PULLUP);
  attachInterrupt(1, doEncoderB, CHANGE);
  pinMode(motorDirPin1, OUTPUT);
  pinMode(motorDirPin2, OUTPUT);
  Serial.begin(115200);
}

void loop()
{
  timer_loop(MCU_CONTROL_RATE);
    if(Serial.available()){
    gainData = Serial.readStringUntil('\r');

    unsigned int gainDataLength = gainData.length();
    unsigned int index[3];
    String temp;
    index[0] = gainData.indexOf("*");
    index[1] = gainData.indexOf(",");
    temp = gainData.substring(index[0] + 1, index[1]);
    flag = temp.toInt();
    temp = gainData.substring(index[1] + 1, gainDataLength);
    Target = temp.toFloat();

    switch (flag){
      case 1: Kp = Target; encoderPos = 0; break;
      case 2: Ki = Target; encoderPos = 0; break;
      case 3: Kd = Target; encoderPos = 0; break;
      case 4: targetDeg = Target; encoderPos = 0; break;
      default: Target = 0; break;
    }
  }
    
 motorDeg = float(encoderPos)*ratio;
 error = targetDeg - motorDeg;
 P_control = (Kp*error);
 I_control += (Ki*error*Ltime);
 D_control = Kd * (error - error_previous)/(Ltime);
 control = P_control + I_control + D_control;
 error_previous = error;

 doMotor( (control>=0)?HIGH:LOW, min(abs(control), 255));

 Serial.print("encoderPos : ");
 Serial.print(encoderPos); 
 Serial.print("    motorDeg : ");
 Serial.print(float(encoderPos)*ratio);
 Serial.print("    error : ");
 Serial.print(error);
 Serial.print("    control : ");
 Serial.print(control);
 Serial.print("    motorVel : ");
 Serial.print(min(abs(control), 255));
 Serial.print("    Kp : ");
 Serial.print(Kp);
 Serial.print("    Ki : ");
 Serial.print(Ki);
 Serial.print("    Kd : ");
 Serial.println(Kd);
}