Code: if (actualTemperature wishedTemperature). Activate relay pin to lower temperature. Si, i need to control that temperature with PID, i really have no clear how to implement that? I see the but i cannot understand the examples in the way i cannot see where i place the temperature read in the functions and when to activate the pins of the relays, i really had read tutorials and try to implement code but i really don't understand. In an ideal world PID output should be an 'analogue' rather than a simple binary condition.

Because the controller does not output analogue you can use PWM as a pseudo-analogue. However PWM cannot be effectively implemented using a simple driver relay since the relay would be chattering constantly. You can however use an SSR which will quite happily operate with PWM. Alternatively, rather than 'normal' PWM you could use 'burst mode' on the output which is effectively a very low frequency form of PWM.

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In this case ON for so many seconds, then OFF for so many seconds, depending on heat demand. This method is frequently used in mains type heating systems. Note also that PID control requires an analogue input sensor, rather than a simple digital switched input since you need to sense both the value of offset and rate of change of offset.

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I have a PID program running on a PIC processor currently (new version is ESP8266) that runs PWM with a 2.5 second cycle time to control the temperature of an aluminum plate under my hummingbird feeder to keep it from freezing. I use two temperature sensors (old version is analog - new version will be 18b20 sensors) - one for ambient air temperature and one for the heat plate temperature. The 2.5 second cycle time seems to work quite well since the time constant for the heat plate is fairly long (it takes a minute or two at 100% power to bring the plate up to temperature (about 70F)). I also have 3 green LED's around the edge to show when the power is on to the heater so I can see the duty cycle that way - given the circular shape of the feeder with the blinking green lights around it, people commented on the little flying saucer in my back yard. In an ideal world PID output should be an 'analogue' rather than a simple binary condition.

Because the controller does not output analogue you can use PWM as a pseudo-analogue. However PWM cannot be effectively implemented using a simple driver relay since the relay would be chattering constantly. You can however use an SSR which will quite happily operate with PWM. Alternatively, rather than 'normal' PWM you could use 'burst mode' on the output which is effectively a very low frequency form of PWM. In this case ON for so many seconds, then OFF for so many seconds, depending on heat demand. This method is frequently used in mains type heating systems. Note also that PID control requires an analogue input sensor, rather than a simple digital switched input since you need to sense both the value of offset and rate of change of offset.

Your 'burst mode' is not a low-frequency form of PWM, it is PWM. There is literally no theoretical difference at all whether the frequency is 50 kHz or 50 mHz. My previous job had big thermal chambers that used PID controllers to modulate the temperature inside them according to a specific thermal profile, example: 1) ramp to 85C in 10 minutes 2) Hold for 1 hour 3) Ramp to -40C in 30 minutes 4) hold for 1 hour 5) Ramp to 25C in 20 minutes Repeat 100 times The multi-kilowatt heaters and cooling compressors were controlled by relays with a PWM period of about 10 or 15 seconds. The time constant for most things in Newton's Law of Cooling is YUUUGE!!, probably many many minutes long for a good pot of water. A PWM cycle lasting several seconds should be more than good enough for controlling temperature on most things with a large thermal mass.