#include?
#define?PinA?2??//中斷0
#define?PinB?3??//中斷1
#define?INA??8?//電機正反
#define?PWMA??9?//電機速度
int?PDAJ?=?12;?//模式選擇
long?int?anlge;
unsigned?long?time?=?0;
long?count?=?0;?//計數值
long?num?=?0;
double?Setpoint?Input?Outputsetpoint;
double?kp?=?0.040ki?=?0.0005kd?=0.0011;//kp?=?0.040ki?=?0.0005kd?=0.0011;
PID?myPID（&Input?&Output?&Setpointkpkikd?REVERSE）;
//初始化
void?setup（）
{
????????Serial.begin（9600）;?//窗口初始化
?????????
????????pinMode（PinAINPUT）;?//D2腳為輸入
????????pinMode（PinBINPUT）;?//D3腳為輸入
????????pinMode（PDAJINPUT_PULLUP）;
?????????
?????????
????????attachInterrupt（0?blinkA?FALLING???）;??//注冊中斷0調用函數blinkA
????????attachInterrupt（1?blinkB?FALLING???）;??//注冊中斷1調用函數blinkB
?
????????time?=?micros（）;?//時間初值
??????????myPID.SetTuni