参考AVR446的方法在ti的M3上的实验，此方法是一种实时梯形规划的方法，计算量小。-The experimental method of AVR446 reference in the Ti M3, this method is a method for real-time ladder programming, small amount of calculation.

pid //PID算法 //声明变量 //定义变量 float Kp float Ti float T float Td float a0 float a1 float a2 float ek float ek1 float ek2 float uk float uk1 float ad_just //变量初始化，根据实际情况初始化 Kp= Ti= T=