说明：  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 cpu, make some simplification, the specific PID Parameters must be determined experimentally by a specific object. As the ram chip processing speed and resource constraints, generally do not use floating-point operations, And all parameters of all integers, and divided by an operator to the last N-th power of 2 data (the equivalent of the shift) for a similar fixed-point operations can be Greatly enhance the computing speed, according to the different requirements of precision control, when high precision, attention to retain the shift caused by the "remainder", do I Number of compensation. This procedure is commonly used basic structure pid algorithm, does not include input and output processing section)