说明：  应用PID控制算法，以控制电机，对其转速进行控制来编程，电机转速采用霍尔编码器进行测量，应用DSP脉冲编码捕获功能对其信号进行采集，来检测当前电机转速。
(Application of PID control algorithm to control the motor speed control to its programming, the motor speed encoder using Hall measurements, application of DSP pulse code capture its signal acquisition, to detect the current motor speed.)