这是从网上找来的一个比较典型的PID处理程序，在使用单片机作为控制cpu时，请稍作简化，具体的PID 　　参数必须由具体对象通过实验确定。由于单片机的处理速度和ram资源的限制，一般不采用浮点数运算， 　　而将所有参数全部用整数，运算到最

Packet : source.txt filelist

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