#include?“include.h“

void?pid_init（PID?*piddouble?kpdouble?kidouble?kd）
{
	pid->setValue=0;
	pid->getValue=0;
	
	pid->kp=kp;
	pid->ki=ki;
	pid->kd=kd;
	
	pid->err=0;
	pid->err_1=0;
	pid->err_2=0;
	
	pid->increment=0;

	pid->out=0;
}

void?pid（PID?*piddouble?getValuedouble?setValue）
{
	pid->setValue?=?setValu