struct PID_struct {float Kp;float Ti;float TD;float T;float speed;};#define PORTin	0x200#define PORTout	100int finish;float A,B,C;int msg;int check=1;//int motor_write(int &m);#ifndef _CONTROL_H__#define _CONTROL_H__#endif//#ifndef motor_MAJOR//#define motor_MAJOR 0  //#endif//#define count_t unsigned long//#define read_write_t long//extern int scull_major; //ssize_t motor_read (struct inode *inode, struct file *filp,//                char *buf, count_t count);//ssize_t motor_write (struct inode *inode, struct file *filp,//                const char *buf, count_t count);//int motor_open(struct inode *inode,struct file *filp);//void motor_release(struct inode *inode,struct file *filp);