//#include	
//#include	“basicTYPE.h“

typedef?unsigned?char???????BYTE;???????????????//?8-bit
typedef?unsigned?short?int??WORD;???????????????//?16-bit
typedef?unsigned?long???????DWORD;??
/*
typedef?union?_BYTE_VAL
{
????BYTE?val;
????struct?
????{
????????unsigned?char?b0:1;
????????unsigned?char?b1:1;
????????unsigned?char?b2:1;
????????unsigned?char?b3:1;
????????unsigned?char?b4:1;
????????unsigned?char?b5:1;
????????unsigned?char?b6:1;
????????unsigned?char?b7:1;
????}?bits;
}?BYTE_VAL;
*/
WORD		UG?U0;
WORD		YK;
WORD		TA;
WORD		T_ALFJ;
BYTE		ALFJ;
BYTE		KPKIKD;
signed?short?int?EKEK1EK2;
signed?long?int?DYK;


int?main（void）
{
	signed?short?int?temp1temp2temp3;
	signed?long?int?temp4;
	KP=40;
	KI=2;
	KD=24;
	TA=10000;
	UG=900;
	U0=1000;
	YK=29000;
	
	while（1）
	{
		EK2=EK1;???????????????????//先前的EK2拋棄，由原先的EK1替代
		EK1=EK;????????????????????//由原先的EK替代	;
		EK=（UG-U0）;	//新的EK，直接寫（UG-U0）/5會(huì)出錯(cuò)前面會(huì)被當(dāng)成無符號(hào)數(shù)計(jì)算
	
	
????????	temp1=（EK-EK1）*KP;
????????	temp2=EK*KI;
????????	temp3=（EK2+EK-EK1*2）*KD;

????????	DYK=temp1+temp2+temp3;??????????//
	
????????	temp4=（signed?long?int）（YK）;??//為防止溢出強(qiáng)行轉(zhuǎn)換成4個(gè)字節(jié)有符號(hào)數(shù)
????????	temp4=temp4+DYK;????????????????//
		if（temp4<=1）					//邊界處理
			temp4=1;
		else?if（temp4>0xffff）		//
			temp4=0xffff;			//
			
????????	YK=（WORD）?（temp4）;??????????????//類型轉(zhuǎn)換need?to?be???
????????????????????????????????????????????????
		T_ALFJ=TA-（（DWORD）TA）*（（DWORD）YK）/65536;?????????//得處理ALFJ的限制，由于是限制角度，不得先求時(shí)間，此處代碼需要處理。
?????????
?????????if（T_ALFJ<20）									//0度控制，1度55us左右
		{
			T_ALFJ=20;
		}???
//****************************************************************		
//顯示要矯正
		ALFJ=180-（BYTE）（（（DWORD）YK*180）/65536）;??????????//不加關(guān)鍵字BYTE，將導(dǎo)致結(jié)果失真，原因待研究
	}

}

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件????????710??2008-04-14?10:03??DSPIC30\PID.mcp

?????文件??????80896??2008-04-14?11:35??DSPIC30\PID.mcw

?????文件???????1920??2008-04-14?09:30??DSPIC30\PID.c

?????文件???????2540??2006-10-25?16:01??DSPIC30\basicTYPE.h

?????文件?????????29??2008-04-14?09:30??DSPIC30\PID.tagsrc

?????文件???????1452??2008-04-14?09:30??DSPIC30\PID.mptags

?????文件??????49781??2008-03-30?14:47??DSPIC30\p30f4011.gld

?????文件???????6247??2008-04-14?10:03??DSPIC30\PID.map

?????文件???????2295??2008-04-14?10:02??DSPIC30\PID.o

?????文件???????2609??2008-04-14?10:03??DSPIC30\PID.cof

?????文件???????1752??2008-04-14?10:03??DSPIC30\PID.hex

?????文件????????652??2008-04-14?10:03??DSPIC30\PID.sdb

?????文件??????12166??2008-04-14?10:03??DSPIC30\PID.lst

?????文件??????18344??2008-04-14?10:03??DSPIC30\PID.rlf

?????文件???????3142??2008-04-14?10:03??DSPIC30\PID.obj

?????文件???????3508??2008-04-14?10:03??DSPIC30\PID.sym

?????文件???????1256??2008-04-14?10:03??DSPIC30\PID.hxl

?????文件???????1389??2008-04-14?11:35??DSPIC30\PID.mcs

?????文件???????2540??2006-10-25?16:01??DSPIC30\basicTYPE-MCC30.h.bak

?????文件????????854??2008-04-18?10:22??DSPIC30\REOUT\4011_REOUT.mcp

?????文件??????78848??2008-04-24?11:28??DSPIC30\REOUT\4011_REOUT.mcw

?????文件????????231??2008-04-21?17:39??DSPIC30\REOUT\REOUT.c

?????文件??????81586??2008-04-21?17:39??DSPIC30\REOUT\4011_REOUT.map

?????文件?????????37??2008-04-21?17:39??DSPIC30\REOUT\4011_REOUT.tagsrc

?????文件????????533??2008-04-21?17:39??DSPIC30\REOUT\4011_REOUT.mptags

?????文件??????39162??2008-04-21?17:39??DSPIC30\REOUT\REOUT.o

?????文件??????73620??2008-04-21?17:39??DSPIC30\REOUT\4011_REOUT.cof

?????文件???????2518??2008-04-21?17:39??DSPIC30\REOUT\4011_REOUT.hex

?????文件???????1888??2008-04-24?11:28??DSPIC30\REOUT\4011_REOUT.mcs

?????文件????????138??2008-04-18?10:38??DSPIC30\RFOUT\RFOUT.C

............此處省略98個(gè)文件信息