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c2000digital controller library 中PID controller算法求助

在PID controller 中,提到了PID添加到c程序中的定义结构体和初始化,以及需要包含的DCL.h和.asm文件,但并未提及pid的算法方式,是根据图3-3中所给出的流程图进行运算吗?

新手求助,麻烦大神解答疑惑!

PID_C2000_ Digital Controller Library Users Guide(sprui31).pdf