<\/span><\/h4>\n\u067e\u0633 \u0627\u0632 \u0645\u0648\u0646\u062a\u0627\u0698 \u0648\u0627\u062d\u062f\u0647\u0627\u06cc \u0627\u0635\u0644\u06cc \u0648 \u062d\u0633\u06af\u0631 \u0628\u0631 \u0631\u0648\u06cc PCB \u0647\u0627\u06cc \u0645\u0631\u0628\u0648\u0637\u0647\u060c \u0648\u0627\u062d\u062f \u0627\u0635\u0644\u06cc \u0631\u0627 \u062f\u0631 \u0628\u0627\u0644\u0627\u06cc \u0634\u0627\u0633\u06cc \u0647\u0645\u0631\u0627\u0647 \u0628\u0627 \u0648\u0627\u062d\u062f \u0628\u0627\u062a\u0631\u06cc \u0648 \u062d\u0633\u06af\u0631 \u062f\u0631 \u0642\u0633\u0645\u062a \u067e\u0627\u06cc\u06cc\u0646 \u0634\u0627\u0633\u06cc (\u062d\u062f\u0648\u062f 25 \u0645\u06cc\u0644\u06cc \u0645\u062a\u0631 \u0628\u0627\u0644\u0627\u062a\u0631 \u0627\u0632 \u0633\u0637\u062d) \u062b\u0627\u0628\u062a \u06a9\u0646\u06cc\u062f.<\/p>\n
\u0628\u0631\u0627\u06cc \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u0628\u06cc\u0634\u062a\u0631 \u062f\u0631 \u0645\u0648\u0631\u062f \u0645\u0648\u0646\u062a\u0627\u0698 \u0648 \u0627\u062a\u0635\u0627\u0644\u0627\u062a\u060c \u0644\u0637\u0641\u0627\u064b \u0628\u0647 \u0646\u0645\u0648\u0646\u0647 \u0627\u0648\u0644\u06cc\u0647 \u0646\u0648\u06cc\u0633\u0646\u062f\u0647 \u062f\u0631 \u0634\u06a9\u0644 1 \u0648 \u0645\u0648\u0646\u062a\u0627\u0698 \u0648\u0627\u062d\u062f \u0633\u0646\u0633\u0648\u0631 \u062f\u0631 \u0634\u06a9\u0644 8 \u0645\u0631\u0627\u062c\u0639\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\n![\"\"](\"https:\/\/digighate.com\/blog\/wp-content\/uploads\/2021\/12\/8-1-477x420-1-300x264-1.jpg\")
\u0634\u06a9\u0644 8: \u0645\u0648\u0646\u062a\u0627\u0698 \u0648\u0627\u062d\u062f \u062d\u0633\u06af\u0631<\/figcaption><\/figure>\n<\/span>\u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0627\u0648\u0644\u06cc\u0647<\/strong><\/span><\/h2>\n\u0647\u0645\u0627\u0646\u0637\u0648\u0631 \u06a9\u0647 \u062f\u0631 \u0632\u06cc\u0631 \u062a\u0648\u0636\u06cc\u062d \u062f\u0627\u062f\u0647 \u0634\u062f\u0647\u060c \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0627\u062a\u0631\u06cc\u060c \u06cc\u06a9 \u0686\u0631\u062e \u06a9\u0631\u0686\u06a9 \u0648 \u06cc\u06a9 \u0628\u0627\u062a\u0631\u06cc \u0631\u0627 \u0628\u0631 \u0631\u0648\u06cc \u06cc\u06a9 \u0634\u0627\u0633\u06cc \u062e\u0648\u0628 \u062a\u0639\u0645\u06cc\u0631 \u06a9\u0646\u06cc\u062f. \u062a\u0627\u0628\u0644\u0648\u06cc \u0622\u0631\u0627\u06cc\u0647 \u0647\u0634\u062a \u0633\u0646\u0633\u0648\u0631 IR \u0631\u0627 \u062f\u0631 \u0642\u0633\u0645\u062a \u062c\u0644\u0648\u06cc\u06cc \u062e\u0648\u062f \u0642\u0631\u0627\u0631 \u062f\u0647\u06cc\u062f \u0648 \u062d\u062f\u0648\u062f 5 \u0645\u06cc\u0644\u06cc\u200c\u0645\u062a\u0631 \u0628\u06cc\u0646 LED \u0647\u0627 \u0627\u0632 \u06a9\u0641 \u0648 IR \u0641\u0627\u0635\u0644\u0647 \u062f\u0627\u0631\u062f. \u0628\u0639\u062f\u060c \u0635\u0641\u062d\u0647 \u0645\u062f\u0627\u0631 \u0627\u0635\u0644\u06cc \u0631\u0627 \u0631\u0648\u06cc \u0634\u0627\u0633\u06cc \u0642\u0631\u0627\u0631 \u062f\u0627\u062f\u0647 \u0648 \u067e\u0633 \u0627\u0632 \u0631\u0648\u0634\u0646 \u06a9\u0631\u062f\u0646 \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 \u0628\u0631\u062f \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0628\u0627\u062a\u0631\u06cc\u060c \u0627\u0632 \u0637\u0631\u06cc\u0642 \u067e\u0648\u0631\u062a ISP\u060c \u0641\u0627\u06cc\u0644 custom_pid_lf.hex \u0631\u0627 \u062f\u0631 \u0645\u06cc\u06a9\u0631\u0648\u06a9\u0646\u062a\u0631\u0644\u0631 (ATmega16) \u0628\u0646\u0648\u06cc\u0633\u06cc\u062f \u0648 \u0631\u0627\u06cc\u062a \u06a9\u0646\u06cc\u062f. \u0627\u06a9\u0646\u0648\u0646\u060c \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 \u0631\u0627 \u062e\u0627\u0645\u0648\u0634 \u06a9\u0631\u062f\u0647 \u0648 \u0628\u0631\u0646\u0627\u0645\u0647\u200c\u0646\u0648\u06cc\u0633 AVR \u0631\u0627 \u0627\u0632 \u0628\u0631\u062f \u0645\u062f\u0627\u0631 \u0627\u0635\u0644\u06cc \u062e\u0627\u0631\u062c \u06a9\u0646\u06cc\u062f.<\/p>\n
\u062e\u0631\u0648\u062c\u06cc\u200c\u0647\u0627\u06cc \u0633\u0646\u0633\u0648\u0631 \u0631\u0627 \u0628\u0647 \u0648\u0627\u062d\u062f \u0645\u062f\u0627\u0631 \u0627\u0635\u0644\u06cc \u0648\u0635\u0644 \u06a9\u0631\u062f\u0647 \u0648 \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 \u0648\u0627\u062d\u062f \u0645\u062f\u0627\u0631 \u0633\u0646\u0633\u0648\u0631 \u0631\u0627 \u0631\u0648\u0634\u0646 \u06a9\u0646\u06cc\u062f. \u0622\u0631\u0627\u06cc\u0647 \u0646\u0648\u0627\u0631 LED (BAR1) \u0628\u0627\u06cc\u062f \u0686\u0634\u0645\u06a9 \u0628\u0632\u0646\u062f \u0648 OLED \u0628\u0627\u06cc\u062f “\u067e\u06cc\u0627\u0645 \u062e\u0648\u0634 \u0622\u0645\u062f\u06af\u0648\u06cc\u06cc” \u0631\u0627 \u0628\u0631\u0627\u06cc \u0645\u062f\u062a\u06cc \u0646\u0645\u0627\u06cc\u0634 \u062f\u0647\u062f \u0648 \u0628\u0647 \u062f\u0646\u0628\u0627\u0644 \u0622\u0646 \u062d\u0627\u0644\u062a “\u062a\u0648\u0642\u0641” \u067e\u06cc\u0634 \u0641\u0631\u0636 \u0628\u0627\u0634\u062f.<\/p>\n
\u0627\u06a9\u0646\u0648\u0646\u060c VR1 \u0631\u0627 \u062f\u0631 \u0646\u0632\u062f\u06cc\u06a9\u06cc IC \u0647\u0627\u06cc \u0622\u0645\u067e\u0631 \u0622\u0645\u067e (LM324) \u062f\u0631 \u0648\u0627\u062d\u062f \u0633\u0646\u0633\u0648\u0631 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f \u062a\u0627 \u0647\u0646\u06af\u0627\u0645 \u0627\u0646\u062a\u0642\u0627\u0644 \u0648\u0627\u062d\u062f \u0633\u0646\u0633\u0648\u0631 \u0631\u0648\u06cc \u062e\u0637 \u0633\u06cc\u0627\u0647 (\u06cc\u0627 \u0633\u0641\u06cc\u062f)\u060c \u0647\u0634\u062a LED \u0645\u0648\u062c\u0648\u062f \u062f\u0631 \u0622\u0631\u0627\u06cc\u0647 LED \u0631\u0627 \u0631\u0648\u0634\u0646 \u0648 \u062e\u0627\u0645\u0648\u0634 \u06a9\u0646\u062f. \u0628\u0627 \u0628\u0631\u062f\u0627\u0634\u062a\u0646 \u0648 \u0627\u062a\u0635\u0627\u0644 \u0628\u0644\u0648\u0632 \u0627\u062a\u0635\u0627\u0644 \u06a9\u0648\u062a\u0627\u0647 J1 \u062a\u0641\u0627\u0648\u062a \u062d\u0633 \u062e\u0637 \u0631\u0627 \u0645\u0634\u0627\u0647\u062f\u0647 \u06a9\u0631\u062f\u0647 \u0648 \u0622\u0646 \u0631\u0627 \u0645\u0637\u0627\u0628\u0642 \u0631\u0646\u06af (\u0633\u06cc\u0627\u0647 \u06cc\u0627 \u0633\u0641\u06cc\u062f) \u062e\u0637 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f. \u0628\u0631\u0627\u06cc \u062e\u0637 \u0633\u06cc\u0627\u0647 \u0631\u0646\u06af J1 \u0631\u0627 \u0628\u0627\u0632 \u06a9\u0646\u06cc\u062f \u0648 \u0628\u0631\u0627\u06cc \u062e\u0637 \u0633\u0641\u06cc\u062f \u0631\u0646\u06af J1 \u0631\u0627 \u0628\u0628\u0646\u062f\u06cc\u062f.<\/p>\n
![\"\"](\"https:\/\/digighate.com\/blog\/wp-content\/uploads\/2021\/12\/9-231x500-1-139x300-1.jpg\")
<\/p>\n
<\/span>\u062e\u0648\u062f \u0622\u0632\u0645\u0627\u06cc\u06cc \u0628\u0631\u0627\u06cc \u0645\u0648\u062a\u0648\u0631\u0647\u0627<\/strong><\/span><\/h2>\n\u062f\u06a9\u0645\u0647 \u0633\u0648\u0626\u06cc\u0686 S2 \u0631\u0627 \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0686\u0631\u062e\u0634 \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u062f\u0631 \u0632\u0645\u0627\u0646\u06cc \u06a9\u0647 \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u062f\u0631 \u062d\u0627\u0644\u062a \u062a\u0648\u0642\u0641 \u0627\u0633\u062a \u0622\u0632\u0645\u0627\u06cc\u0634 \u0634\u0648\u062f. \u067e\u06cc\u0627\u0645 \u062f\u0631 OLED \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f: “\u0645\u0631\u062d\u0644\u0647 1 \u0627\u0632 4 \u060c \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a \u062f\u0631 \u062d\u0627\u0644\u062a \u0631\u0648 \u0628\u0647 \u062c\u0644\u0648 \u0627\u0633\u062a.” \u062f\u0631 \u0647\u0645\u0627\u0646 \u0632\u0645\u0627\u0646\u060c \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a \u062f\u0631 \u062c\u0647\u062a \u062c\u0644\u0648 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n
\u0628\u0639\u062f \u060c S2 \u0631\u0627 \u0644\u062d\u0638\u0647\u200c\u0627\u06cc \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0645\u0648\u062a\u0648\u0631 \u0633\u0645\u062a \u0686\u067e \u0628\u0631\u0631\u0633\u06cc \u0634\u0648\u062f. \u0628\u0647 \u0647\u0645\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628\u060c S2 \u0631\u0627 \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u062d\u0631\u06a9\u062a \u0631\u0648 \u0628\u0647 \u062c\u0644\u0648 \u0648 \u0639\u0642\u0628 \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0628\u0631\u0631\u0633\u06cc \u0634\u0648\u062f.<\/p>\n
\u062f\u0631 \u0635\u0648\u0631\u062a \u0686\u0631\u062e\u0634 \u0647\u0631 \u06cc\u06a9 \u0627\u0632 \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u060c \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 \u0628\u0627\u062a\u0631\u06cc \u0631\u0627 \u062e\u0627\u0645\u0648\u0634 \u06a9\u0631\u062f\u0647 \u0648 \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u0633\u06cc\u0645 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0627\u0635\u0644\u0627\u062d \u06a9\u0646\u06cc\u062f. \u0633\u067e\u0633 \u062f\u0648\u0628\u0627\u0631\u0647 \u062e\u0648\u062f\u0622\u0632\u0645\u0627\u06cc\u06cc \u06a9\u0646\u06cc\u062f \u0648 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u062f \u062a\u0627 \u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0628\u0627 \u067e\u06cc\u0627\u0645\u200c\u0647\u0627\u06cc \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u062f\u0631 OLED \u0645\u0637\u0627\u0628\u0642\u062a \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u062f.<\/p>\n
<\/span>\u067e\u06cc\u06a9\u0631\u0628\u0646\u062f\u06cc \u062b\u0627\u0628\u062a\u200c\u0647\u0627<\/strong><\/span><\/h2>\n\u0628\u0631\u0627\u06cc \u062a\u063a\u06cc\u06cc\u0631 \u0645\u0642\u0627\u062f\u06cc\u0631 \u062b\u0627\u0628\u062a (Kp \u060c Ki \u0648 Kd)\u060c \u062f\u06a9\u0645\u0647 S1 \u0631\u0627 \u0645\u0631\u062a\u0628\u0627\u064b \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0641\u0639\u0644\u06cc \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0634\u0648\u062f \u0648 \u0645\u0642\u0627\u062f\u06cc\u0631 \u062a\u063a\u06cc\u06cc\u0631 \u06a9\u0646\u062f.<\/p>\n
\u062f\u06a9\u0645\u0647 S2 \u0631\u0627 \u0628\u0631\u0627\u06cc \u06a9\u0627\u0647\u0634 \u06cc\u0627 S3 \u0631\u0627 \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0627\u0641\u0632\u0627\u06cc\u0634 \u06cc\u0627\u0628\u062f. \u0627\u06af\u0631 \u0628\u06cc\u0634 \u0627\u0632 \u067e\u0646\u062c \u062b\u0627\u0646\u06cc\u0647 \u0647\u06cc\u0686 \u062f\u06a9\u0645\u0647 \u0627\u06cc \u0641\u0634\u0631\u062f\u0647 \u0646\u0634\u0648\u062f\u060c \u0645\u0642\u0627\u062f\u06cc\u0631 \u062a\u063a\u06cc\u06cc\u0631 \u06cc\u0627\u0641\u062a\u0647 \u0628\u0647 \u0637\u0648\u0631 \u062e\u0648\u062f\u06a9\u0627\u0631 \u062f\u0631 EEPROM \u0645\u06cc\u06a9\u0631\u0648\u06a9\u0646\u062a\u0631\u0644\u0631 \u0630\u062e\u06cc\u0631\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n
\u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0632\u06cc\u0631 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0628\u0627 \u0641\u0634\u0627\u0631 \u062f\u0627\u062f\u0646 \u062f\u06a9\u0645\u0647 S1 \u0648 \u0628\u0647 \u062f\u0646\u0628\u0627\u0644 \u0622\u0646 \u0641\u0634\u0627\u0631 \u062f\u0627\u062f\u0646 \u062f\u06a9\u0645\u0647\u200c\u0647\u0627\u06cc S2 \u06cc\u0627 S3 \u0628\u0631\u0627\u06cc \u0627\u0641\u0632\u0627\u06cc\u0634 \u06cc\u0627 \u06a9\u0627\u0647\u0634 \u0645\u0642\u0627\u062f\u06cc\u0631\u060c \u0628\u0647 \u062a\u0631\u062a\u06cc\u0628 \u0627\u0646\u062a\u062e\u0627\u0628 \u0634\u0648\u0646\u062f:<\/p>\n
\u062b\u0627\u0628\u062a Kp (\u0628\u0647 \u0639\u0646\u0648\u0627\u0646 KP \u062f\u0631 OLED \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f) \u06cc\u06a9 \u062b\u0627\u0628\u062a \u0636\u0631\u0628 \u0628\u0631\u0627\u06cc P \u062f\u0631 PID \u0627\u0633\u062a. \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0622\u0646 \u0631\u0627 \u0628\u0647 \u0645\u0642\u062f\u0627\u0631 \u0645\u0646\u0627\u0633\u0628 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0647\u06cc\u062f\u060c \u0628\u06af\u0648\u06cc\u06cc\u062f Kp = 8.1<\/p>\n
Constant Ki (\u0628\u0647 \u0635\u0648\u0631\u062a KI \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f) \u06cc\u06a9 \u062b\u0627\u0628\u062a \u0636\u0631\u0628 \u0628\u0631\u0627\u06cc \u0645\u0646 \u062f\u0631 PID \u0627\u0633\u062a. \u0622\u0646\u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0628\u06af\u0648\u06cc\u062f KI = 0.1<\/p>\n
Kd \u062b\u0627\u0628\u062a (\u0628\u0647 \u0635\u0648\u0631\u062a KD \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f) \u06cc\u06a9 \u062b\u0627\u0628\u062a \u0636\u0631\u0628 \u0628\u0631\u0627\u06cc D \u062f\u0631 PID \u0627\u0633\u062a. \u0622\u0646\u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0628\u06af\u0648\u06cc\u062f Kd = 0.1<\/p>\n
\u062a\u0623\u062e\u06cc\u0631 \u062d\u0644\u0642\u0647 (\u0628\u0647 \u0635\u0648\u0631\u062a DELAY \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f) \u062a\u0623\u062e\u06cc\u0631\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u06cc\u0646 \u0642\u0631\u0627\u0626\u062a \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u062e\u0637 \u062a\u0648\u0633\u0637 \u062d\u0633\u06af\u0631\u0647\u0627\u06cc IR \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f. \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0622\u0646\u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0647\u06cc\u062f \u0648 \u0628\u06af\u0648\u06cc\u06cc\u062f Delay = 50<\/p>\n
\u062d\u0644\u0642\u0647 \u062c\u0633\u062a\u062c\u0648 (\u0628\u0647 \u0635\u0648\u0631\u062a SEARCH \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f) \u062a\u0639\u062f\u0627\u062f \u062f\u0641\u0639\u0627\u062a\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0646\u0627\u0645\u0647 \u0642\u0628\u0644 \u0627\u0632 \u0648\u0631\u0648\u062f \u0628\u0647 \u062d\u0627\u0644\u062a \u0645\u062a\u0648\u0642\u0641 \u06a9\u0631\u062f\u0646 \u0628\u0631\u0627\u06cc \u062c\u0633\u062a\u062c\u0648\u06cc \u06cc\u06a9 \u062e\u0637. \u0622\u0646 \u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0647\u06cc\u062f \u0648 \u0628\u06af\u0648\u06cc\u06cc\u062f \u062c\u0633\u062a\u062c\u0648 = 45<\/p>\n
<\/span>\u062a\u0633\u062a \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645<\/strong>\u00a0PID<\/strong><\/span><\/h3>\n\u062f\u06a9\u0645\u0647 S3 \u0631\u0627 \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u067e\u06cc\u0631\u0648\u0627\u0646 \u062e\u0637 \u062f\u0631 \u062d\u0627\u0644\u062a \u067e\u06cc\u06a9\u0631\u0628\u0646\u062f\u06cc \u0627\u062c\u0631\u0627 \u06cc\u0627 \u0645\u062a\u0648\u0642\u0641 \u0634\u0648\u062f. \u062f\u06a9\u0645\u0647 \u062a\u0646\u0638\u06cc\u0645 \u0645\u062c\u062f\u062f S4 \u0631\u0627 \u062f\u0631 \u0647\u0631 \u0632\u0645\u0627\u0646 \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0639\u0645\u0644\u06cc\u0627\u062a \u0645\u062a\u0648\u0642\u0641 \u0634\u062f\u0647 \u0648 \u062f\u0648\u0628\u0627\u0631\u0647 \u0631\u0627\u0647\u200c\u0627\u0646\u062f\u0627\u0632\u06cc \u0634\u0648\u062f.<\/p>\n
\u062d\u0627\u0644\u062a \u0641\u0639\u0644\u06cc Run \/ Stop \u062f\u0631 \u06af\u0648\u0634\u0647 \u0628\u0627\u0644\u0627 \u0633\u0645\u062a \u0631\u0627\u0633\u062a OLED \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f. \u062f\u0631 \u0627\u0628\u062a\u062f\u0627 \u060c \u062f\u0631 \u062d\u0627\u0644\u062a Stop\u060c \u0645\u0642\u062f\u0627\u0631\u06cc \u0645\u0642\u062f\u0627\u0631 (\u0645\u062b\u0644\u0627\u064b 8.0) \u0631\u0627 \u0628\u0631\u0627\u06cc KP \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f \u062f\u0631 \u062d\u0627\u0644\u06cc \u06a9\u0647 \u0645\u0642\u0627\u062f\u06cc\u0631 KI \u0648 KD \u0631\u0627 \u0635\u0641\u0631 \u0646\u06af\u0647 \u062f\u0627\u0631\u06cc\u062f. \u06cc\u06a9 \u0645\u0633\u06cc\u0631 \u0645\u0646\u062d\u0646\u06cc \u0633\u06cc\u0627\u0647 \u0648 \u0636\u062e\u06cc\u0645 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0627\u06cc\u062c\u0627\u062f \u06a9\u0646\u06cc\u062f \u0648 \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0631\u0627 \u062f\u0631 \u0628\u0627\u0644\u0627\u06cc \u0645\u0633\u06cc\u0631 \u0646\u06af\u0647 \u062f\u0627\u0631\u06cc\u062f. \u062f\u06a9\u0645\u0647 S3 \u0631\u0627 \u0641\u0634\u0627\u0631 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0627\u062c\u0631\u0627 \u0634\u0648\u062f. \u0628\u0627\u06cc\u062f \u062e\u0637 \u0645\u0646\u062d\u0646\u06cc \u06a9\u0634\u06cc\u062f\u0647 \u0634\u062f\u0647 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u06a9\u0646\u062f. \u0628\u0631\u0627\u06cc \u062a\u0646\u0638\u06cc\u0645 \u062f\u0642\u062a \u062d\u0631\u06a9\u062a \u0631\u0628\u0627\u062a\u060c \u0645\u0642\u0627\u062f\u06cc\u0631 KD \u0648 KI \u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0647\u06cc\u062f.<\/p>\n
\u0648\u0642\u062a\u06cc \u062e\u0637\u06cc \u067e\u06cc\u062f\u0627 \u0646\u0645\u06cc\u200c\u0634\u0648\u062f\u060c \u062a\u0627\u0628\u0639 () searchLine \u062f\u0631 \u06a9\u062f \u0641\u0631\u0627\u062e\u0648\u0627\u0646\u06cc \u0645\u06cc\u200c\u0634\u0648\u062f. \u0627\u06cc\u0646 \u0639\u0645\u0644\u06a9\u0631\u062f \u0645\u0633\u062a\u0642\u0644 \u0627\u0632 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 PID \u0627\u0633\u062a \u0648 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u062f\u0631 \u0635\u0648\u0631\u062a \u0646\u06cc\u0627\u0632\u060c \u062f\u0631 \u0635\u0648\u0631\u062a \u0646\u06cc\u0627\u0632 \u062a\u063a\u06cc\u06cc\u0631 \u06cc\u0627\u0628\u062f.<\/p>\n","protected":false},"excerpt":{"rendered":"
\u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 PID \u06cc\u06a9 \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0633\u0627\u062f\u0647 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0645\u0627\u062f\u0648\u0646 \u0642\u0631\u0645\u0632 (IR) \u06cc\u0627 \u0628\u0631\u062e\u06cc \u0627\u0632 \u062d\u0633\u06af\u0631\u0647\u0627\u06cc \u0646\u0648\u0631\u06cc \u062f\u06cc\u06af\u0631\u060c \u062e\u0637 \u0636\u062e\u06cc\u0645\u06cc \u0631\u0627 \u06a9\u0647 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u06a9\u0634\u06cc\u062f\u0647 \u0634\u062f\u0647 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u06cc\u0646 \u0631\u0628\u0627\u062a \u062f\u0646\u0628\u0627\u0644 \u06a9\u0646\u0646\u062f\u0647 \u062e\u0637 \u0627\u0632 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0627 \u0686\u0631\u062e…<\/p>\n","protected":false},"author":3,"featured_media":3877,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[1,191],"tags":[],"yoast_head":"\n
\u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 PID | \u0628\u0644\u0627\u06af \u062f\u06cc\u062c\u06cc \u0642\u0637\u0639\u0647<\/title>\n<meta name=\"description\" content=\"\u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 PID \u06cc\u06a9 \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628 \u0633\u0627\u062f\u0647 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0645\u0627\u062f\u0648\u0646 \u0642\u0631\u0645\u0632 (IR) \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u06a9\u0634\u06cc\u062f\u0647 \u0634\u062f\u0647 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.\" \/>\n<meta name=\"robots\" content=\"index, follow, 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\u0633\u0627\u062f\u0647 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0645\u0627\u062f\u0648\u0646 \u0642\u0631\u0645\u0632 (IR) \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u06a9\u0634\u06cc\u062f\u0647 \u0634\u062f\u0647 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.\" \/>\n<meta property=\"og:url\" content=\"https:\/\/digighate.com\/blog\/\u0631\u0628\u0627\u062a-\u0645\u0633\u06cc\u0631\u06cc\u0627\u0628-\u0628\u0627-\u0627\u0633\u062a\u0641\u0627\u062f\u0647-\u0627\u0632-\u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645-pid\/\" \/>\n<meta property=\"og:site_name\" content=\"\u0628\u0644\u0627\u06af \u062f\u06cc\u062c\u06cc \u0642\u0637\u0639\u0647\" \/>\n<meta property=\"article:publisher\" content=\"https:\/\/www.facebook.com\/digighate\" \/>\n<meta property=\"article:published_time\" content=\"2021-04-02T23:28:41+00:00\" \/>\n<meta property=\"article:modified_time\" 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