ARM处理器编成介绍对于刚学习ＡＲＭ有很好的帮助．-ARM processor for the introduction into just learning ARM has a very good help.

pid //PID算法 //声明变量 //定义变量 float Kp float Ti float T float Td float a0 float a1 float a2 float ek float ek1 float ek2 float uk float uk1 float ad_just //变量初始化，根据实际情况初始化 Kp= Ti= T=