Bipolar pid integer not only unipolar output is negative, bipolar have a negative, such as a temperature control system, only heating or only cooling, which is unipolar, there are also cooling heating that is bipolar

F249_yeqiao\settings\f249.cspy.bat
...........\........\f249.dni
...........\........\f249.dbgdt
...........\........\f249_yeqiao.cspy.bat
...........\........\f249_yeqiao.dbgdt
...........\........\f249_yeqiao.dni
...........\........\f249_yeqiao_342A.cspy.bat
...........\........\432A.wsdt
...........\........\f249_yeqiao_342A.dbgdt
...........\........\f249_yeqiao_342A.dni
...........\RS323.DSN
...........\f249_yeqiao.c
...........\432A.eww
...........\Debug\Exe\f249.d43
...........\.....\...\f249_yeqiao.txt
...........\.....\...\f249_yeqiao.d43
...........\.....\Obj\f249_yeqiao.r43
...........\.....\...\pid_AVR.r43
...........\.....\...\f249.pbd
...........\.....\...\IO16bit.r43
...........\.....\...\f249_yeqiao_342A.pbd
...........\.....\...\f249_yeqiao.pbd
...........\.....\...\SPI.r43
...........\.....\...\UART.r43
...........\SPI.c
...........\f249.ewd
...........\f249.dep
...........\复件 UART.c
...........\f249_yeqiao_342A.ewp
...........\f249_yeqiao_342A.ewd
...........\f249_yeqiao_342A.dep
...........\Last Loaded RS323.DBK
...........\RS323.PWI
...........\uart_公式.c
...........\PWM.h
...........\笔记本.c
...........\UART.c
...........\pid_AVR.c
...........\f249_yeqiao.ewp
...........\f249_yeqiao.ewd
...........\f249_yeqiao.dep
...........\SPI.h
...........\.metadata\.lock
...........\.........\version.ini
...........\.........\.plugins\org.eclipse.core.resources\.root\.indexes\properties.index
...........\.........\........\..........................\.....\........\properties.version
...........\.........\........\..........................\.....\........\history.version
...........\.........\........\..........................\.....\2.tree
...........\.........\........\..........................\.safetable\org.eclipse.core.resources
...........\.........\........\..........................\.projects\249_ccs\.indexes\properties.index
...........\.........\........\..........................\.........\.......\........\af\history.index
...........\.........\........\..........................\.........\.......\........\33\history.index
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...........\.........\........\..........................\.history\2\20292fe9bafd001e1e2d93a5c2e589b3
...........\.........\........\..........................\........\.\5063c475bbfd001e1e2d93a5c2e589b3
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...........\.........\........\..........................\........\.c\c0eba712bbfd001e1e2d93a5c2e589b3
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...........\.........\........\..........................\........\4b\809bc412bbfd001e1e2d93a5c2e589b3
...........\.........\........\..........................\........\67\70c7cb12bbfd001e1e2d93a5c2e589b3
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...........\.........\........\..........................\........\..\e196b142bbfd001e1e2d93a5c2e589b3
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