该程序描述了用单片机实现离散的PID控制器，通过改变kp,ki,kp参数可以实现控制器的调节。-The program describes the use of single-chip realization of a discrete PID controller, by changing the kp, ki, kp controller parameter adjustment can be achieved.

简单离散PID计算C程序，适用于初学者学习和进行简单PID控制。-Simple discrete PID calculation C program for beginners to learn and simple PID control.