using SCM as the control cpu, please slightly simplified, specific PID parameters to be specific targets identified by experiments. As SCM processing speed and ram resource constraints, generally do not use floating-point operations. they will all use integer parameters, calculation of a final divided by two of the Nth data (the equivalent displacement) A similar set points in computation, it will greatly increase the computing speed, precision control of different requirements and high precision, reservations to the attention of displacement caused by the "I", which I do several compensation. This procedure is commonly used algorithm pid the basic structure does not include input and output processing.

Packet : 87361049mcu_pid_c_program.rar filelist
mcu_pid_c_program.c

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