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https://www.eeworm.com/dl/516/139716.html
DSP编程
PID calculations for the _pid structure *a. This function uses the positional form of the pid equati
PID calculations for the _pid structure *a. This function uses the positional form of the pid equation, and incorporates an integral windup prevention algorithim. Rectangular integration is used, so this function must be repeated on a consistent time basis for accurate control.