void PIDinit(void)
{
PID.P=EEPROM_read(0xc0);//初始化PID比例值
if（PID.P>99）
{PID.P=50;
EEPROM_write(0xc0,50);
EEPROM_write(0xc1,50);
EEPROM_write(0xc2,50);
}
PID.I=EEPROM_write(0xc1);
PID.D=EEPROM_write(0xc2);
PID.Goal=EEPROM_write(0xd0)+EEPROM_write(0xd1)*256；
if((PID.Goal>99||PID.Goal<0)) PID.Goal=500;
PID.Limit_PIDorKey=50;
PID.ei_sum=0;
}