//e的論域為[-13,13];ec論域為[-3,3];輸出U的論域為[-20,20];

#include <hidef.h>      /* common defines and macros */
#include <MC9S12XS128.h>     /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"

char DFC_tbl[6][6]={          //Fuzzy control inqury form    
        /* -6    -5    -4   -3   -2   -1    0   +1   +2   +3   +4   +5   +6 */   
/*-6*/      6,    5,    6,   5,   6,   6,   4,   4,   3,   2,   1,   1,   0, 
/*-5*/      6,    5,    5,   5,   5,   5,   5,   4,   3,   3,   2,   1,   0,   
/*-4*/      6,    5,    6,   5,   6,   5,   5,   4,   4,   2,   1,   0,   0,   
/*-3*/      5,    5,    5,   5,   5,   5,   4,   4,   3,   3,   1,   0,  -1,   
/*-2*/      5,    4,    4,   3,   3,   3,   2,   0,   0,  -2,  -2,  -3,  -3,   
/*-1*/      4,    4,    4,   4,   3,   3,   0,   0,  -2,  -3,  -3,  -4,  -4,   
/* 0*/      4,    4,    3,   3,   3,   0,   0,   0,  -1,  -3,  -3,  -3,  -5,   
/*+1*/      3,    3,    3,   1,   0,   0,   0,  -3,  -3,  -4,  -4,  -5,  -5,   
/*+2*/      3,    2,    2,   2,   0,   0,  -2,  -3,  -3,  -3,  -4,  -5,  -5,   
/*+3*/      2,    1,    0,   0,  -1,  -3,  -3,  -4,  -4,  -4,  -5,  -5,  -5,   
/*+4*/      0,    0,    0,  -2,  -3,  -3,  -4,  -4,  -5,  -5,  -5,  -6,  -6, 
/*+5*/      0,    0,   -1,  -3,  -3,  -3,  -5,  -5,  -5,  -5,  -5,  -6,  -6,   
/*+6*/      0,    0,   -2,  -3,  -3,  -4,  -4,  -5,  -5,  -6,  -6,  -6,  -6   
}; 

int e,ec,u;
float Ke=2.17,Kec=0.5,Ku=3.33;

int Get_FuzzyValue(int e,int ec) {
 e=e/Ke;ec=ec/Kec;
 if(e>13) e=13;
 if(e<-13) e=-13;
 if(ec>3) e=3;
 if(ec<-3) e=-3;
 u=DFC_tbl[e][ec];
 u=u*Ku;
}








void main(void) {
  /* put your own code here */
  EnableInterrupts;

  for(;;) {} /* wait forever */
  /* please make sure that you never leave this function */
}