With integer variables to achieve the PID algorithm, as is done with integers, so is not very accurate, but for a lot of use cases, this accuracy is enough, and sampling the voltage on the coefficients are all dealt with 10 times magnification So accuracy is not very high, but not so low, most of the occasions enough. is that accuracy is not enough, you can then zoom in 10 times or 100 times the processing, but be careful not to exceed the scope of the data type on it. The program includes two parts PID calculation and output when the deviation of> 10 degrees at full heat, less than 10 degrees deviation calculated for the PID output.

PID.C.txt

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