#include "ServoControl.h"
                                           
#define ATurn_Rad  0.00322f     /*計數器的計數值轉變成弧度值*/ 

/****************/

float ServoControl(float k,float h,long int SV,long int FbackValue,int Zero)
{
	float fCtrl;     
    fCtrl = k* (SV - h*(FbackValue-Zero))*ATurn_Rad;
	
	ClearDog();
	return fCtrl;	
}