#define S_FUNCTION_NAME block_init#include "ttkernel.cpp"const int nInp = 2;                 // nbr of inputs to controller block const int nOutp = 2;                // nbr of outputs to controller block static double inp[] = {0.0, 0.0};   // block inputs static double outp[] = {0.0, 0.0};  // block outputs // --------- Code function ----------double blockpid(int seg, void* data) {  switch (seg) {  case 1:     inp[0] = ttAnalogIn(1);    inp[1] = ttAnalogIn(2);    ttCallBlockSystem(nOutp, outp, nInp, inp, "controller");    return outp[1];     // execution time returned from block   case 2:        ttAnalogOut(1, outp[0]);    return FINISHED;  }}#define NBROFINPUTS 2#define NBROFOUTPUTS 1#define DISPATCHER FPvoid init() {  ttInitKernel(NBROFINPUTS,NBROFOUTPUTS,DISPATCHER);      ttCreatePeriodicTask("pid_task", 0.0, 0.006, 2, blockpid);}void cleanup() { }