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Use pid algorithm to control position DC-motor, appears so much problems!

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i want to use a encoder to control the position of servo - motor,
when shaft of encoder (1) revolve a degree, the signal from encoder (1) will deliver to PIC, then, PIC will generate PWM signals to H-drive,
PIC use PI algorithm for this project, but it's appear so many problems, some boby help me! thank you all very much!
 

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