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中文:https://www.yiboard.com/forum.php?mod=viewthread&tid=1575
英文:https://circuitdigest.com/microcontroller-projects/arduino-based-encoder-motor-using-pid-controller
补充:仅A相位改为A&B相位https://blog.csdn.net/robotixworkshop/article/details/114275629?spm=1001.2014.3001.5501
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