Help i would like to tuning pid controller for position controller of dc motor

Projects Programming
1

i would like to tuning pid controller for position controller of dc motor but all result for gain similar each other. did i write code mistake some where?

picture ->https://www.img.in.th/image/4kcyvA

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#include <PID_v1.h>
//Abosolute Encoder 12 Bit 4096 
int CLK = 13; // Blu  Pin 10
int DO = 12; // Grn   Pin 11
int CSn = 11; // Ylw  Pin 12
//DC motor30

const int in_1 = 7 ;
const int in_2 = 6 ;
const int pwm = 5 ;

  double setpoint = 180;

double p = 100;
double Ku = p/0.5;
double Pu = (12.981-12.488);

//Pcontroller
double kp = 0.5*Ku             ,ki=0,kd = 0;

//PIcontroller
//double kp = 0.45*Ku, ki = (1.2*kp)/Pu , kd =0;

//PIDcontrollet
//double kp = 0.6*Ku, ki = (2*kp)/Pu , kd = (kp*Pu)/8;

  double input = 0,output = 0;

 PID myPID(&input,&output,&setpoint,kp,ki,kd,DIRECT);
double Degree = 0;
double x;
double total_error,last_error;
double last_time,T = 1.3,current_time,delta_time;


void setup() {
  // put your setup code here, to run once:
    pinMode(pwm,OUTPUT) ; pinMode(in_1,OUTPUT) ; pinMode(in_2,OUTPUT) ;

   TCCR1B = TCCR1B & 0b11111000 | 1; 
   
  Serial.begin(9600);
  pinMode(CSn, OUTPUT);
  pinMode(CLK, OUTPUT);
  pinMode(DO, INPUT_PULLUP);
  
  digitalWrite(CSn, HIGH);digitalWrite(CLK, HIGH);
  myPID.SetMode(AUTOMATIC);
  myPID.SetSampleTime(T);
  myPID.SetOutputLimits(-255,255);

}

void loop() {
  // put your main code here, to run repeatedly:
  
  int ee = 170;
  ReadEncoder() ;
  if(Serial.available())
          { int Angle = Serial.parseInt();
            if(Angle>ee || Angle<-ee)
          {   stop();
             Serial.println("---------------------------------");
             Serial.println("Error:Angle should be in -170 to 170");
             Serial.println("---------------------------------");
            //stop
             delay(90000);
             kp = 30; 
             setpoint = 180;}
             
         else
         {
          setpoint = 180+Angle;}
         }
         input = Degree;
         myPID.Compute();
         pwmOut(output);
  //Serial.print(" x = "); Serial.print(((x/4095)*359)-180);
         Serial.print("Kp=");Serial.print(kp);
         Serial.print("Ki=");Serial.print(ki);
          Serial.print("Kd=");Serial.print(kd);
         Serial.print(" ");Serial.print(setpoint-180);
          Serial.print(" "); Serial.print(input-180);
         Serial.print(" ");Serial.print(output);
           Serial.print(" ");Serial.println(delta_time);
}

void pwmOut(int out)
{
 if (out>0)
 { analogWrite(pwm,out);forward();} 
 else
 {  analogWrite(pwm,abs(out));reverse();}
}

void time()
{

 current_time = millis();
 delta_time = current_time - last_time;

 if(delta_time>= T)
 {
  double error = setpoint - input;
  double delta_error = error-last_error;
 
  total_error+= error;      
         last_error = error;
         last_time = current_time;
  
}

}


void ReadEncoder() 
{  time();
  float Data = ReadSSI();
    x=Data; 
   Degree = map(Data, 0, 4095, 0, 359); //cange data to Degree
} 
int ReadSSI(void)//read clk cs do from encoder
{ int i, dReading;
  char Resolution = 12;
  unsigned int bitStart = 0x0800;
  dReading = 0;
  digitalWrite(CSn, LOW);
  delayMicroseconds(5);
  digitalWrite(CLK, LOW);
  for (i = (Resolution - 1); i >= 0; i--)
  { digitalWrite(CLK, HIGH);
    delayMicroseconds(5);
    if (digitalRead(DO)) dReading |= bitStart;
    digitalWrite(CLK, LOW);
    delayMicroseconds(5);
    bitStart = bitStart >> 1;
    if (i == 0)
    { digitalWrite(CLK, HIGH);
      if (digitalRead(DO)) dReading |= bitStart;
    }
  }
  digitalWrite(CSn, HIGH);
  return dReading;
}


void forward()
{
  digitalWrite(in_1,LOW) ;digitalWrite(in_2,HIGH);
}

void reverse()
{
  digitalWrite(in_1,HIGH) ;digitalWrite(in_2,LOW);
}

void stop()
{
  digitalWrite(in_1,HIGH) ;digitalWrite(in_2,HIGH);
}