I have improved the code from the VIPM to use for the Tetrix Prime Balancing Beam MyRio demo.
It is an balancing beam with a ball on it and you can set the position of where you want the ball.
Steps to Implement or Execute Code
Arm Range and Center Point Offset
To change the variables, you have to get the minimum and maximum PWM values.
To get them, run the Control Arm directly.vi and set it to a value that is the maximum on your installation,
then also get the minimum and the center(the main beam is horizontal). You can enter the center value directly into center point offset control(main),
but the other control is a bit harder:
Then it should work, if it oscillates for too long or something, change the PID values see http://digital.ni.com/public.nsf/allkb/806F6F0B775FAF32862572FA0052F2AB
Tetrix Prime for MyRio
Additional Images or Video