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Moving away from arduino- best uProcessor for making PID device?

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Hi,
I'm an amateur teaching myself some electronics. Ive recently made a plant waterer with an arduino using a closed loop control, now I'd like to try and make a PID controller for a small ceramic heating element but I'd like to move away from the arduino to reduce size and teach myself a few things.

I have an ATMega 328 with a crystal oscillator that I thought I could program, then I could design my own PCB and case for this device and have them printed which would be more pro than just...

Moving away from arduino- best uProcessor for making PID device?

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