Description: This is a typical PID process, using the microcontroller as a control in the cpu, make some simplifications, the specific PID parameters must be experimentally determined by specific objects. As the processing speed and ram microcontroller resource constraints, generally do not use floating-point operations, and all in all the parameters of integer operations to the last divided by a 2-N-power data (the equivalent of the shift), as similar to the fixed-point operations, can greatly improve the computational speed, according to the different requirements of precision control, when the precision is high, pay attention to retain the shift caused by the " remainder" , to do the remainder of compensation. This procedure is commonly used basic structure pid algorithm, does not include input and output processing part.
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