#ifndef _PID_H_
#define _PID_H_


typedef struct pid{
	int setval;		//set  val
	int feed;		//read back val
	char kpadj;
	int kp;
	int ki;
	int kd;
	int ut;
	int err2;
	int err1;
	int derr;
	int err;
	long errsum;
	}pid;
void Px(int *p,char n);	
int aver(int *p,char n)	;	
void pid_calc(pid *p);
void pid_init(pid *p);
#endif