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並前往http://ww1.microchip.com/downloads/en/AppNotes/Atmel-2558-Discrete-PID-Controller-on-tinyAVR-and-megaAVR_ApplicationNote_AVR221.pdf

AVR221: Discrete PID Controller on tinyAVR and megaAVR ...

The PID controller can be used to control any measurable ... Simple discrete PID controller algorithm ... 1600 Technology Drive, San Jose, CA 95110 USA.

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