Debugging code on Arduino, ARM Cortex M3, Linux, C2000, and STM32 targets

When the controller algorithm is running on a target and the plant model is running on the host computer, you use a debug diagram to:

      Dynamically adjust parameters in the executable code

      Provide real-time feedback for the controller responses on the host 

You can also use the serial monitor in the Arduino IDE to debug code on an Arduino, as demonstrated in the Embed Common Tasks Tutorial at Altair Community Documentation.