这是一个比较典型的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，运算到最后再除以一个2的N次方数据（相当于移位），作类似定点数运算，可

大大提高运算速度，根据控制精度的不同要求，当精度要求很高时，注意保留移位引起的“余数”，做好余

数补偿。这个程序只是一般常用pid算法的基本架构，没有包含输入输出处理部分。

-This is a typical PID process, using the microcontroller as a control in the cpu, make some simplifications, the specific PID parameters must be experimentally determined by specific objects. As the processing speed and ram microcontroller resource constraints, generally do not use floating-point operations, and all in all the parameters of integer operations to the last divided by a 2-N-power data (the equivalent of the shift), as similar to the fixed-point operations, can greatly improve the computational speed, according to the different requirements of precision control, when the precision is high, pay attention to retain the shift caused by the " remainder" , to do the remainder of compensation. This procedure is commonly used basic structure pid algorithm, does not include input and output processing part.