Description: a typical PID handling procedures, the use of single chip controller cpu, please slightly simplified, PID parameters specific to the specific object must be determined through experiments. As microcontroller processing speed and ram resource constraints, not normally used floating point calculations. they will use an all parameters, calculation of a final divided by two of the Nth data (equivalent to shift), Points for similar operations will be greatly improved computational speed, precision control of the different requirements and high precision, reservations to the attention of displacement caused by the "I", which I do for compensation. This procedure is commonly used algorithm pid the basic structure does not include input and output processing.
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