PI Control

機器上有裝三個加熱器 所以要用PID Control來控制

//Structure

struct PID {
  int   Target;
  int   Kp;
  int   Ki;
  float Integral;
  int   AdcCh;
};

//Code
 E = (pid->Target) - ReadADC(pid->AdcCh);
 (pid->Integral) += E;

 U = (pid->Kp) * E + (pid->Ki) * (pid->Integral);

//Kp = 70,Ki = 1