Programmer PID algorithm to calculate the way through the PID value of the OP. P is the strength of the PID parameters to control the strength I is the integral parameter settings used to close D is the differential parameters of the output stability around the set value. Adjust the set PID control is actually the slope and the actual slope of the gap, so the actual slope of the slope near the shock in the set, and finally stabilized.

PID_C.c

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