主要包括：主控程序模块、键盘扫描及处理子程序、采样数据处理子程序、PID算法子程序、电机驱动与控制子程序和显示等子程序几个部分。-Mainly includes: master control program module, keyboard scan and processing procedure, the sampling data processing procedure, PID calculate way procedures, motor drive and control procedure and display DengZi program several parts.