#include<iom16v.h>
#include<macros.h>
#include"12864.h"
#include"INIT.h"
#include"ADC.h"
#define uint unsigned int
#define uchar unsigned char
int ads,m;
int kp=3;ki=0,kd=37;
int temp=0;
int pid(int input)
{
//输入范围:
//输出范围:
static int n1,n2,n3,res;
//int res;
n1=input-159;
//n1=n1*n1;
res=22+kp*n1*n1/153+(n1-n2)*kd;
n3=n2;
n2=n1;