#nclude<reg51.h>#include<intrins.h>#銷nclude<math.h>#include<string.h>struct PID{unsigned int SetPoint；//設定目標 Desired Value unsigned int Proportion；//比例常數Proportional Const unsigned int integral；//積分常數Integral Const unsigned int Derivative://微分常數Derivative Const unsigned int LastError；//Emorl-1]unsigned int PrevError；//Errorl-2]unsigned int SumError；//Sums of Errors struct PID spid；//PID Control Structure unsigned int rout；//PID response（Output）unsigned int rin://PID Feedback（Input）sbit data1=P100；sbit clk=P141；sbit plus=P240；sbit subs=P241：sbit stop=P22；sbit output=P34；sbit DQ=P33；unsigned char flag，flag_1=0；unsigned char high_time，low_time，.count=0，/占空比調節參數unsigned char set_temper=35；unsigned char temper；unsigned chari：unsigned charj=0；unsigned ints；
陀螺儀硬件自檢：相關方法陀螺儀允許用戶測試機械和電氣部分。自檢的代碼在 InvenSense提供的 MotionApps?軟件里面。如果沒有使用 MotionApps?軟件，請參閱下節(Obtaining the Gyroscope Factory Trim (FT) Value)。當自檢啟動，片上的電子設備就會啟動相應的傳感器。這次啟動會使傳感器的 proofmasses的距離相當于一個預定的科里奧利力（Coriolis force）。傳感器的 Proof masses位移變換的結果將在輸出信號中反映。輸出信號用戶可以在自檢反饋看到。自檢反饋（STR）定于如下：Self Test response=Gyroscope Output with Self Test Enabled — Gyroscope Output with Self Test Disabled自檢反饋通過反饋與出產的評估比較查找變換用于確定這部分通過還是自檢失敗
