Incremental PID algorithm, can be transplanted to other projects, but a simple example, you can refer to.

增量式PID
.........\Debug
.........\.....\kk.exe
.........\.....\kk.ilk
.........\.....\kk.pdb
.........\ipch
.........\....\kk-d6280d82
.........\....\...........\kk-3f3d08c2.ipch
.........\kk
.........\kk.sdf
.........\kk.sln
.........\kk.suo
.........\..\Debug
.........\..\.....\CL.read.1.tlog
.........\..\.....\CL.write.1.tlog
.........\..\.....\kk.exe.embed.manifest
.........\..\.....\kk.exe.embed.manifest.res
.........\..\.....\kk.exe.intermediate.manifest
.........\..\.....\kk.lastbuildstate
.........\..\.....\kk.log
.........\..\.....\kk.vcxprojResolveAssemblyReference.cache
.........\..\.....\kk.write.1.tlog
.........\..\.....\kk_manifest.rc
.........\..\.....\link-cvtres.read.1.tlog
.........\..\.....\link-cvtres.write.1.tlog
.........\..\.....\link.10124-cvtres.read.1.tlog
.........\..\.....\link.10124-cvtres.write.1.tlog
.........\..\.....\link.10124.read.1.tlog
.........\..\.....\link.10124.write.1.tlog
.........\..\.....\link.13284-cvtres.read.1.tlog
.........\..\.....\link.13284-cvtres.write.1.tlog
.........\..\.....\link.13284.read.1.tlog
.........\..\.....\link.13284.write.1.tlog
.........\..\.....\link.13832-cvtres.read.1.tlog
.........\..\.....\link.13832-cvtres.write.1.tlog
.........\..\.....\link.13832.read.1.tlog
.........\..\.....\link.13832.write.1.tlog
.........\..\.....\link.13852-cvtres.read.1.tlog
.........\..\.....\link.13852-cvtres.write.1.tlog
.........\..\.....\link.13852.read.1.tlog
.........\..\.....\link.13852.write.1.tlog
.........\..\.....\link.2476-cvtres.read.1.tlog
.........\..\.....\link.2476-cvtres.write.1.tlog
.........\..\.....\link.2476.read.1.tlog
.........\..\.....\link.2476.write.1.tlog
.........\..\.....\link.8220-cvtres.read.1.tlog
.........\..\.....\link.8220-cvtres.write.1.tlog
.........\..\.....\link.8220.read.1.tlog
.........\..\.....\link.8220.write.1.tlog
.........\..\.....\link.8520-cvtres.read.1.tlog
.........\..\.....\link.8520-cvtres.write.1.tlog
.........\..\.....\link.8520.read.1.tlog
.........\..\.....\link.8520.write.1.tlog
.........\..\.....\link.8932-cvtres.read.1.tlog
.........\..\.....\link.8932-cvtres.write.1.tlog
.........\..\.....\link.8932.read.1.tlog
.........\..\.....\link.8932.write.1.tlog
.........\..\.....\link.9356-cvtres.read.1.tlog
.........\..\.....\link.9356-cvtres.write.1.tlog
.........\..\.....\link.9356.read.1.tlog
.........\..\.....\link.9356.write.1.tlog
.........\..\.....\link.9708-cvtres.read.1.tlog
.........\..\.....\link.9708-cvtres.write.1.tlog
.........\..\.....\link.9708.read.1.tlog
.........\..\.....\link.9708.write.1.tlog
.........\..\.....\link.read.1.tlog
.........\..\.....\link.write.1.tlog
.........\..\.....\main.obj
.........\..\.....\mt.read.1.tlog
.........\..\.....\mt.write.1.tlog
.........\..\.....\rc.read.1.tlog
.........\..\.....\rc.write.1.tlog
.........\..\.....\vc100.idb
.........\..\.....\vc100.pdb
.........\..\kk.vcxproj
.........\..\kk.vcxproj.filters
.........\..\kk.vcxproj.user
.........\..\main.cpp

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