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