The LabVIEW Interface For Arduino Toolkit can be used to create Arduino sketches in the LabVIEW environment. The following "virtual instrument", used in testing the performance of a PneuNets Bending Actuator, was created in LabVIEW. Software code is created by dragging and dropping functional blocks and creating connections between these blocks. LabVIEW is a development environment from National Instruments that uses a graphical programming language. For example, see this guide to PID control using the Arduino, and this PID Arduino library.
If there is a particular control architecture you wish to implement, there is a good chance that someone has published related Arduino code online. One of the advantages of using the Arduino microcontroller is the massive amount of support documentation and useful code libraries that are available.
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