PID的流程简单到了不能再简单的程度，通过误差信号控制被控量，而控制器本身就是比例、积分、微分三个环节的加和。里面的源代码都是由C语言所实现。-PID process is simple to a simple degree can not be controlled by the amount of error signal control, and the controller itself is proportional, integral, differential sum of three links. Inside the source code is achieved by the C language.