DC motor PID control, integrated current samples. And I uploaded another PID debugging software (matlab write) can be achieved with the use of fast and efficient PID parameter tuning, this band ah clear structure, easy to understand.

CM3
...\core_cm3.c
...\core_cm3.h
...\startup_stm32f10x_md.s
...\stm32f10x.h
...\system_stm32f10x.c
...\system_stm32f10x.h
Libraries
.........\misc.c
.........\misc.h
.........\stm32f10x_adc.c
.........\stm32f10x_adc.h
.........\stm32f10x_bkp.c
.........\stm32f10x_bkp.h
.........\stm32f10x_can.c
.........\stm32f10x_can.h
.........\stm32f10x_cec.c
.........\stm32f10x_cec.h
.........\stm32f10x_crc.c
.........\stm32f10x_crc.h
.........\stm32f10x_dac.c
.........\stm32f10x_dac.h
.........\stm32f10x_dbgmcu.c
.........\stm32f10x_dbgmcu.h
.........\stm32f10x_dma.c
.........\stm32f10x_dma.h
.........\stm32f10x_exti.c
.........\stm32f10x_exti.h
.........\stm32f10x_flash.c
.........\stm32f10x_flash.h
.........\stm32f10x_fsmc.c
.........\stm32f10x_fsmc.h
.........\stm32f10x_gpio.c
.........\stm32f10x_gpio.h
.........\stm32f10x_i2c.c
.........\stm32f10x_i2c.h
.........\stm32f10x_iwdg.c
.........\stm32f10x_iwdg.h
.........\stm32f10x_pwr.c
.........\stm32f10x_pwr.h
.........\stm32f10x_rcc.c
.........\stm32f10x_rcc.h
.........\stm32f10x_rtc.c
.........\stm32f10x_rtc.h
.........\stm32f10x_sdio.c
.........\stm32f10x_sdio.h
.........\stm32f10x_spi.c
.........\stm32f10x_spi.h
.........\stm32f10x_tim.c
.........\stm32f10x_tim.h
.........\stm32f10x_usart.c
.........\stm32f10x_usart.h
.........\stm32f10x_wwdg.c
.........\stm32f10x_wwdg.h
Mylib
.....\ad.c
.....\ad.h
.....\beep.c
.....\beep.h
.....\can.c
.....\can.h
.....\control.c
.....\control.h
.....\delay.c
.....\delay.h
.....\encoder.c
.....\encoder.h
.....\flash.c
.....\flash.h
.....\key.c
.....\key.h
.....\led.c
.....\led.h
.....\Motor.c
.....\Motor.h
.....\pwm.c
.....\pwm.h
.....\tim2.c
.....\tim2.h
.....\Tim5.c
.....\Tim5.h
.....\usart1.c
.....\usart1.h
.....\usart2.c
.....\usart2.h
Project
.......\JLinkLog.txt
.......\JLinkSettings.ini
.......\Listings
.......\........\startup_stm32f10x_md.lst
.......\........\STM32F103C.map
.......\Objects
.......\.......\ad.crf
.......\.......\ad.d
.......\.......\ad.o
.......\.......\beep.crf
.......\.......\beep.d
.......\.......\beep.o
.......\.......\can.crf
.......\.......\can.d

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