pid调参

  Serial.print("elapsedTime2 :");
  Serial.println(elapsedTime2, 3);
  Serial.print("error2 :");
  Serial.println(error2, 3);
  Serial.print("cumError2 :");
  Serial.println(cumError2, 3);
  Serial.print("rateError2 :");
  Serial.println(rateError2, 3);
  Serial.print("out2 before limit:");
  Serial.println(out2, 3);