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Commit 2c49d76f authored by claes's avatar claes
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co_convert and doxygen tags collision fixed

parent 078bd813
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Showing with 128 additions and 128 deletions
src/lib/rt/src/rt_c_node.c
View file @ 2c49d76f
......@@ -20,7 +20,7 @@
static pwr_sNode *np = 0;
/**
/*_*
@aref node Node
*/
......
src/lib/rt/src/rt_c_plcthread.c
View file @ 2c49d76f
......@@ -33,7 +33,7 @@
#define cNanoSec 1.0e-9
/**
/*_*
@aref plcthread PlcThread
*/
pwr_sClass_PlcThread *
......
src/lib/rt/src/rt_csup.c
View file @ 2c49d76f
......@@ -22,7 +22,7 @@
#include "rt_errh.h"
/**
/*_*
@aref cyclesup CycleSup
*/
lst_sEntry *
......
src/lib/rt/src/rt_plc_arithm.c
View file @ 2c49d76f
......@@ -18,7 +18,7 @@
/* PLC RUTINER */
/**
/*_*
SUM
funktion: Add up to 8 analogue values.
Each value is multiplied with a factor.
......@@ -53,7 +53,7 @@ void sum_exec(
object->ActVal = sum;
}
/**
/*_*
MAXMIN
funktion: Select largest and smallest value of up to
8 input values.
......@@ -97,7 +97,7 @@ void maxmin_exec(
object->MinVal = minval;
}
/**
/*_*
LIMIT
funktion: Upper and lower limit of analog value
......@@ -139,7 +139,7 @@ void limit_exec(
}
}
/**
/*_*
COMPH
funktion: Compare Analog Value with high limit
......@@ -161,7 +161,7 @@ void comph_exec(
if (object->In > object->Lim ) object->High = TRUE;
}
/**
/*_*
COMPL
funktion: Compare Analog Value with low limit
......@@ -183,7 +183,7 @@ void compl_exec(
if (object->In < object->Lim ) object->Low = TRUE;
}
/**
/*_*
SELECT
funktion: Select between two analog values depending on
one logical control value
......@@ -208,7 +208,7 @@ void select_exec(
}
}
/**
/*_*
RAMP
funktion: Limit output change.
If external feedback is used we limit change
......@@ -326,7 +326,7 @@ void ramp_exec(
object->ActVal = out; /* New output */
}
/**
/*_*
FILTER
funktion: Exponential filter.
If external feedback is used we filter
......@@ -353,7 +353,7 @@ void filter_exec(
object->ActVal = object->In;
}
/**
/*_*
SPEED
Function: Calculate difference divided to scantime
......@@ -370,7 +370,7 @@ void speed_exec(
object->ActVal = (object->In - old) / *object->ScanTime * object->TimFact;
}
/**
/*_*
TIMINT
Function: Integration in time
......@@ -391,7 +391,7 @@ void timint_exec(
object->ActVal += *object->InP * *object->ScanTime / object->TimFact;
}
/**
/*_*
CURVE
Funktion: Interpollation in a table
......@@ -446,7 +446,7 @@ void curve_exec(
#define table_exec(tableobject) /* Table. No code for execution */
#endif
/**
/*_*
ADELAY
Funktion:
......@@ -529,7 +529,7 @@ void adelay_exec(
object->ActVal=object->TimVect[actindex];
}
/**
/*_*
PISPEED
function: Measure flow with pulse input
......@@ -557,7 +557,7 @@ void pispeed_exec(
object->TimFact / *object->ScanTime;
}
/**
/*_*
DtoMask
funktion: Assamble digital signals to integer bitmask
......@@ -585,7 +585,7 @@ void DtoMask_exec(
object->Mask = val;
}
/**
/*_*
MaskToD
funktion: Deassamble integer bitmask to digital signals
......@@ -611,7 +611,7 @@ void MaskToD_exec(
}
}
/**
/*_*
DtoEnum
funktion: Select enumeration value from digital inputs
......@@ -639,7 +639,7 @@ void DtoEnum_exec(
object->Enum = val;
}
/**
/*_*
EnumToD
funktion: Identify enumeration value.
......
src/lib/rt/src/rt_plc_data.c
View file @ 2c49d76f
......@@ -30,7 +30,7 @@ typedef struct {
/* PLC RUTINER */
/**
/*_*
@aref dpcollect DpCollect
*/
void DpCollect_exec(
......@@ -48,7 +48,7 @@ void DpCollect_exec(
}
}
/**
/*_*
@aref apcollect ApCollect
*/
void ApCollect_exec(
......@@ -66,7 +66,7 @@ void ApCollect_exec(
}
}
/**
/*_*
@aref dpdistribute DpDistribute
*/
void DpDistribute_exec(
......@@ -78,7 +78,7 @@ void DpDistribute_exec(
min( object->MaxIndex, 24) * sizeof(pwr_tBoolean));
}
/**
/*_*
@aref apdistribute ApDistribute
*/
void ApDistribute_exec(
......@@ -90,7 +90,7 @@ void ApDistribute_exec(
min( object->MaxIndex, 24) * sizeof(pwr_tFloat32));
}
/**
/*_*
@aref datacollect DataCollect
*/
void DataCollect_exec(
......
src/lib/rt/src/rt_plc_drive.c
View file @ 2c49d76f
......@@ -11,7 +11,7 @@
#include "rt_plc.h"
#include "rt_plc_timer.h"
/**
/*_*
Drive
Function:
Simple Drive with interlocks and
......@@ -126,7 +126,7 @@ void drive_exec (
object->Ind = (object->Status == 4) && !object->Local;
}
/**
/*_*
Valve
Function:
Magnetic valve with time alarm
......@@ -250,7 +250,7 @@ void valve_exec (
object->ManClose = FALSE;
}
/**
/*_*
MValve
Function:
Motor-valve
......@@ -504,7 +504,7 @@ void mvalve_exec (
object->ManStop = FALSE;
}
/**
/*_*
Posit
Function:
Order a drive to a preset position.
......
src/lib/rt/src/rt_plc_io.c
View file @ 2c49d76f
......@@ -16,7 +16,7 @@
#include "rt_plc.h"
#include "rt_plc_timer.h"
/**
/*_*
PiPos
Function:
Handles input from pulse-interface-card
......@@ -72,7 +72,7 @@ void pipos_exec (
object->CalOrder2Old = object->CalOrder2;
}
/**
/*_*
Count
Function:
Handles all functions for flank counter
......@@ -128,7 +128,7 @@ void count_exec (
object->Equal = object->Accum == object->Preset;
}
/**
/*_*
BCDDO
Function:
Converts float to 4-digit BCD value.
......@@ -169,7 +169,7 @@ void bcddo_exec (
object->Rest = rest;
}
/**
/*_*
DIBCD
function: Converts 4-digit BCD value to float.
......@@ -215,7 +215,7 @@ void dibcd_exec (
object->Error = err;
}
/**
/*_*
Gray
Function:
Gray converts up to 16 digital Gray coded input signals
......
src/lib/rt/src/rt_plc_macro_div.h
View file @ 2c49d76f
......@@ -9,31 +9,31 @@
#define Backup_init(object, data)\
strcpy( &(object->DataName), data);
/**
/*_*
@aref windowplc WindowPlc
*/
#define windowplc_exec(object)\
if ( object->ScanOff) return;
/**
/*_*
@aref windowcond WindowCond
*/
#define windowcond_exec(object)\
if ( object->ScanOff) return;
/**
/*_*
@aref windoworderact WindowOrderact
*/
#define windoworderact_exec(object)\
if ( object->ScanOff) return;
/**
/*_*
@aref windowsubstep WindowSubstep
*/
#define windowsubstep_exec(object)\
if ( object->ScanOff) return;
/**
/*_*
@aref scantime ScanTime
*/
#define ScanTime_exec(object)\
......
src/lib/rt/src/rt_plc_macro_grafcet.h
View file @ 2c49d76f
......@@ -14,7 +14,7 @@ static pwr_tBoolean **ppointer;
static pwr_tBoolean test;
static pwr_tBoolean order_old;
/**
/*_*
InitStep
Sequence-step that is set on reset-order for sequence.
......@@ -29,7 +29,7 @@ static pwr_tBoolean order_old;
chain \
obj->Status[1] = obj->Status[0]
/**
/*_*
Step
Sequence-step that is reset on reset-order for sequence.
......@@ -43,7 +43,7 @@ static pwr_tBoolean order_old;
chain \
obj->Status[1] = obj->Status[0]
/**
/*_*
SubStep
Sequence-step that includes a sub-sequence.
......@@ -57,7 +57,7 @@ static pwr_tBoolean order_old;
chain \
subseq
/**
/*_*
SSBegin
First sequence-step in subsequence.
......@@ -73,7 +73,7 @@ static pwr_tBoolean order_old;
chain \
obj->Status[1] = obj->Status[0]
/**
/*_*
SSEnd
Last sequence-step in subsequence.
......@@ -88,7 +88,7 @@ static pwr_tBoolean order_old;
substep->Status[1] = obj->Status[1] = obj->Status[0]
/**
/*_*
Trans
Transition of active status from one or more step to one or
......@@ -129,7 +129,7 @@ static pwr_tBoolean order_old;
} \
}
/**
/*_*
Order
@aref order Order
*/
......@@ -142,7 +142,7 @@ static pwr_tBoolean order_old;
chain \
}
/**
/*_*
DOrder
@aref dorder DOrder
*/
......@@ -167,7 +167,7 @@ static pwr_tBoolean order_old;
obj->Status[1] = stepobj->Status[0] || stepobj->Status[1]; \
obj->Old = stepobj->Status[0];
/**
/*_*
LOrder
@aref lorder LOrder
*/
......@@ -194,7 +194,7 @@ static pwr_tBoolean order_old;
obj->Status[1] = stepobj->Status[0] || stepobj->Status[1]; \
obj->StatusOld = stepobj->Status[0]
/**
/*_*
POrder
@aref porder POrder
*/
......@@ -204,7 +204,7 @@ static pwr_tBoolean order_old;
obj->Status[1] = stepobj->Status[0] || stepobj->Status[1]; \
obj->StatusOld = stepobj->Status[0]
/**
/*_*
COrder
@aref corder COrder
*/
......@@ -214,7 +214,7 @@ static pwr_tBoolean order_old;
obj->Status[0] = stepobj->Status[0] && obj->Cond; \
obj->Status[1] = stepobj->Status[0] || stepobj->Status[1]
/**
/*_*
SOrder
@aref sorder SOrder
*/
......@@ -226,7 +226,7 @@ static pwr_tBoolean order_old;
obj->Status[1] = obj->Status[0] || stepobj->Status[1]; \
obj->Reset = false
/**
/*_*
Reset_So
@aref reset_so Reset_SO
*/
......@@ -234,7 +234,7 @@ static pwr_tBoolean order_old;
#define reset_so_exec(sorderobj,in) \
if ( in ) sorderobj->Reset = true
/**
/*_*
SetCond
Set condition
......@@ -244,7 +244,7 @@ static pwr_tBoolean order_old;
#define setcond_exec(obj,in) \
obj->Cond = in
/**
/*_*
CSub
Conditional sub-window
......
src/lib/rt/src/rt_plc_macro_io.h
View file @ 2c49d76f
......@@ -7,7 +7,7 @@
/* PREPROCESSOR RUTINER */
/**
/*_*
STODO
store digital output
@aref stodo StoDo
......@@ -15,7 +15,7 @@
#define stodo_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
STODV
store digital value
@aref stodv StoDv
......@@ -23,7 +23,7 @@
#define stodv_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
STODP
Store into digital parameter
@aref stodp StoDp
......@@ -31,7 +31,7 @@
#define stodp_exec(ut,in) \
ut = in;
/**
/*_*
STOAO
store into analog output
@aref stoao StoAo
......@@ -39,7 +39,7 @@
#define stoao_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
STOAV
store into analog value
@aref stoav StoAv
......@@ -47,7 +47,7 @@
#define stoav_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
STOAP
Store into analog parameter
@aref stoap StoAp
......@@ -55,7 +55,7 @@
#define stoap_exec(ut,in) \
ut = in;
/**
/*_*
CSTOAO
store conditionally into analog output
@aref cstoao CStoAo
......@@ -63,7 +63,7 @@
#define cstoao_exec(obj,in,cond) \
if ( cond ) obj->ActualValue = in;
/**
/*_*
CSTOAV
store conditionally into analog value
@aref cstoav CStoAv
......@@ -71,7 +71,7 @@
#define cstoav_exec(obj,in,cond) \
if ( cond ) obj->ActualValue = in;
/**
/*_*
CSTOAP
Store conditionally into analog parameter
@aref cstoap CStoAp
......@@ -79,7 +79,7 @@
#define cstoap_exec(ut,in,cond) \
if ( cond ) ut = in;
/**
/*_*
SETDO
Set digital output if true
@aref setdo SetDo
......@@ -87,7 +87,7 @@
#define setdo_exec(obj,in) \
if ( in ) obj->ActualValue = true;
/**
/*_*
SETDV
Set digital value if true
@aref setdv SetDv
......@@ -95,7 +95,7 @@
#define setdv_exec(obj,in) \
if ( in ) obj->ActualValue = true;
/**
/*_*
SETDP
Set digital parameter if true
@aref setdp SetDp
......@@ -103,7 +103,7 @@
#define setdp_exec(ut,in) \
if ( in ) ut = true;
/**
/*_*
RESDO
Reset digital output if true
@aref resdo ResDo
......@@ -111,7 +111,7 @@
#define resdo_exec(obj,in) \
if ( in ) obj->ActualValue = false;
/**
/*_*
RESDV
Reset digital value if true
@aref resdv ResDv
......@@ -119,7 +119,7 @@
#define resdv_exec(obj,in) \
if ( in ) obj->ActualValue = false;
/**
/*_*
RESDP
Reset digital parameter if true
@aref resdp ResDp
......@@ -127,7 +127,7 @@
#define resdp_exec(ut,in) \
if ( in ) ut = false;
/**
/*_*
StoIp
Store integer parameter
@aref stoip StoIp
......@@ -135,7 +135,7 @@
#define StoIp_exec(ut,in) \
ut = in;
/**
/*_*
CStoIp
Store conditionally integer parameter
@aref cstoip CStoIp
......@@ -143,7 +143,7 @@
#define CStoIp_exec(ut,in,cond) \
if ( cond ) ut = in;
/**
/*_*
StoAtoIp
Store analog value into integer parameter
@aref stoatoip StoAtoIp
......@@ -151,7 +151,7 @@
#define StoAtoIp_exec(ut,in) \
ut = in > 0 ? in + 0.5 : in - 0.5;
/**
/*_*
CStoAtoIp
Store conditionally analog value into integer parameter
@aref cstoatoip CStoAtoIp
......@@ -159,7 +159,7 @@
#define CStoAtoIp_exec(ut,in,cond) \
if ( cond ) ut = in > 0 ? in + 0.5 : in - 0.5;
/**
/*_*
GetIpToA
Get Integer parameter as an analog value
@aref getiptoa GetIpToA
......@@ -167,7 +167,7 @@
#define GetIpToA_exec(object,in) \
object->ActVal = in;
/**
/*_*
STODI
store digital input (Simulate)
@aref stodi StoDi
......@@ -175,7 +175,7 @@
#define stodi_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
SETDI
Set digital input if true (Simulate)
@aref setdi SetDi
......@@ -183,7 +183,7 @@
#define setdi_exec(obj,in) \
if ( in ) obj->ActualValue = true;
/**
/*_*
RESDI
Reset digital input if true (Simulate)
@aref resdi ResDi
......@@ -191,7 +191,7 @@
#define resdi_exec(obj,in) \
if ( in ) obj->ActualValue = false;
/**
/*_*
STOAI
store analog input (Simulate)
@aref stoai StoAi
......@@ -199,7 +199,7 @@
#define stoai_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
CSTOAI
store conditionally into analog input (Simulate)
@aref cstoai CStoAi
......@@ -207,7 +207,7 @@
#define cstoai_exec(obj,in,cond) \
if ( cond ) obj->ActualValue = in;
/**
/*_*
STOPI
store into co (Simulate)
@aref stopi StoPi
......@@ -216,7 +216,7 @@
rawvalue->RawValue = in; \
absvalue->RawValue = in;
/**
/*_*
StoIo
Store integer output
@aref stoio StoIo
......@@ -224,7 +224,7 @@
#define stoio_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
CStoIo
store conditionally into integer output
@aref cstoio CStoIo
......@@ -232,7 +232,7 @@
#define cstoio_exec(obj,in,cond) \
if ( cond ) obj->ActualValue = in;
/**
/*_*
StoIv
Store integer value
@aref stoiv StoIv
......@@ -240,7 +240,7 @@
#define stoiv_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
CStoIv
store conditionally into integer value
@aref cstoiv CStoIv
......@@ -248,7 +248,7 @@
#define cstoiv_exec(obj,in,cond) \
if ( cond ) obj->ActualValue = in;
/**
/*_*
StoIi
store integer input (Simulate)
@aref stoii StoIi
......@@ -256,7 +256,7 @@
#define stoii_exec(obj,in) \
obj->ActualValue = in;
/**
/*_*
CStoIi
store conditionally into integer input (Simulate)
@aref cstoii CStoIi
......@@ -264,70 +264,70 @@
#define cstoii_exec(obj,in,cond) \
if ( cond ) obj->ActualValue = in;
/**
/*_*
AtoI
@aref atoi AtoI
*/
#define AtoI_exec(obj,in) \
obj->ActVal = in > 0 ? in + 0.5 : in - 0.5;
/**
/*_*
ItoA
@aref itoa ItoA
*/
#define ItoA_exec(obj,in) \
obj->ActVal = in;
/**
/*_*
StoDattr
@aref stodattr StoDattr
*/
#define StoDattr_exec(attr,in) \
attr = in;
/**
/*_*
SetDattr
@aref setdattr SetDattr
*/
#define SetDattr_exec(attr,in) \
if ( in) attr = true;
/**
/*_*
ResDattr
@aref resdattr ResDattr
*/
#define ResDattr_exec(attr,in) \
if ( in) attr = false;
/**
/*_*
StoIattr
@aref stoiattr StoIattr
*/
#define StoIattr_exec(attr,in) \
attr = in;
/**
/*_*
CStoIattr
@aref cstoiattr CStoIattr
*/
#define CStoIattr_exec(attr,in,cond) \
if ( cond) attr = in;
/**
/*_*
StoAattr
@aref stoaattr StoAattr
*/
#define StoAattr_exec(attr,in) \
attr = in;
/**
/*_*
CStoAattr
@aref cstoaattr CStoAattr
*/
#define CStoAattr_exec(attr,in,cond) \
if ( cond) attr = in;
/**
/*_*
StoSattr
@aref stosattr StoSattr
*/
......@@ -335,7 +335,7 @@
strncpy( attr, in, size); \
attr[size-1] = 0;
/**
/*_*
CStoSattr
@aref cstosattr CStoSattr
*/
......
src/lib/rt/src/rt_plc_macro_logic.h
View file @ 2c49d76f
......@@ -7,7 +7,7 @@
/* PREPROCESSOR ROUTINES FOR LOGIC CONTROL */
/**
/*_*
And
and-gate
......@@ -16,7 +16,7 @@
#define and_exec(obj,expr) \
obj->Status = ( expr );
/**
/*_*
OR
or-gate
......@@ -25,7 +25,7 @@
#define or_exec(obj,expr) \
obj->Status = ( expr );
/**
/*_*
XOR
exclusive or-block
......@@ -34,7 +34,7 @@
#define xor_exec(obj,in1,in2) \
obj->Status = !(in1 == in2 );
/**
/*_*
EDGE
detects logic rise.
......@@ -46,21 +46,21 @@
/**
/*_*
AARITHM
@aref aarithm AArithm
*/
#define aarithm_exec(obj,expr) \
obj->ActVal = expr;
/**
/*_*
DARITHM
@aref darithm DArithm
*/
#define darithm_exec(obj,expr) \
obj->Status = expr;
/**
/*_*
CARITHM
@aref carithm CArithm
*/
......@@ -69,7 +69,7 @@
expr\
}
/**
/*_*
SR_S
@aref sr_s SR_S
*/
......@@ -78,7 +78,7 @@
obj->Status = true; \
else if (reset) obj->Status = false;
/**
/*_*
SR_R
@aref sr_r SR_R
*/
......@@ -87,14 +87,14 @@
obj->Status = false; \
else if (set) obj->Status = true;
/**
/*_*
INV
@aref inv Inv
*/
#define inv_exec(obj,in) \
obj->Status = !in;
/**
/*_*
PULSE
@aref pulse Pulse
*/
......@@ -108,7 +108,7 @@
obj->Status = obj->TimerFlag; \
obj->StatusOld = in;
/**
/*_*
WAIT
@aref wait Wait
*/
......@@ -120,7 +120,7 @@
obj->StatusOld = in; \
obj->Status = in && !obj->TimerFlag;
/**
/*_*
TIMER
@aref timer Timer
*/
......@@ -132,7 +132,7 @@
obj->StatusOld = in; \
obj->Status = in || obj->TimerFlag;
/**
/*_*
WAITH
@aref waith Waith
*/
......@@ -162,7 +162,7 @@
obj->Status = false; \
}
/**
/*_*
STRCAT
@aref strcat Strcat
*/
......
src/lib/rt/src/rt_plc_macro_string.h
View file @ 2c49d76f
......@@ -7,7 +7,7 @@
/* Preprocessor routines for string operations */
/**
/*_*
STOSV
store string value
@aref stosv StoSv
......@@ -16,7 +16,7 @@
strncpy( obj->ActualValue, in, sizeof(obj->ActualValue)); \
obj->ActualValue[sizeof(obj->ActualValue)-1] = 0;
/**
/*_*
CSTOSV
store conditionally into string value
@aref cstosv CStoSv
......@@ -27,7 +27,7 @@
obj->ActualValue[sizeof(obj->ActualValue)-1] = 0; \
}
/**
/*_*
STRCAT
@aref strcat Strcat
*/
......@@ -37,28 +37,28 @@
strncat(obj->ActVal, str2, sizeof(obj->ActVal)-strlen(str1)); \
obj->ActVal[sizeof(obj->ActVal)-1] = 0;
/**
/*_*
ATOSTR
@aref atostr AtoStr
*/
#define AtoStr_exec(obj,in) \
sprintf(obj->ActVal, obj->Format, in);
/**
/*_*
DTOSTR
@aref dtostr DtoStr
*/
#define DtoStr_exec(obj,in) \
sprintf(obj->ActVal, obj->Format, in);
/**
/*_*
ITOSTR
@aref itostr ItoStr
*/
#define ItoStr_exec(obj,in) \
sprintf(obj->ActVal, obj->Format, in);
/**
/*_*
STOSP
Store into string attribute
@aref stosp StoSp
......@@ -67,7 +67,7 @@
strncpy( ut, in, size); \
ut[size-1] = 0;
/**
/*_*
CSTOSP
Store conditionally into string attribute
@aref cstosp CStoSp
......@@ -78,7 +78,7 @@
ut[size-1] = 0; \
}
/**
/*_*
SUBSTR
@aref substr SubStr
*/
......
src/lib/rt/src/rt_plc_macro_sup.h
View file @ 2c49d76f
......@@ -44,7 +44,7 @@
o->Acked = TRUE;
#endif
/**
/*_*
Name:
ASup_exec(object, In, con)
......@@ -107,7 +107,7 @@
o->CheckReturn = FALSE; \
o->Acked = TRUE;
#endif
/**
/*_*
Name:
DSup_exec(object, In, con)
......
src/lib/rt/src/rt_plc_pid.c
View file @ 2c49d76f
......@@ -18,7 +18,7 @@
/* PLC RUTINER */
/**
/*_*
INC3P
function: accumulate output change from controller
and convert to Open or Close orders.
......@@ -130,7 +130,7 @@ void inc3p_exec(
}
}
/**
/*_*
POS3P
function: Compare controller output to actual position
Open or close if outside of deadzone.
......@@ -203,7 +203,7 @@ void pos3p_exec(
object->TimerCount = 0;
}
}
/**
/*_*
OUT2P
function: Konvert analog controll output to binary on / off
......@@ -252,7 +252,7 @@ void out2p_exec(
}
}
/**
/*_*
MODE
function: Set controller or drive in different operation mode.
Pass analog values depending on mode.
......@@ -317,7 +317,7 @@ void mode_exec(
}
}
/**
/*_*
PID
function: PID or PD Controller with basic facilities
Possible to turn off integration and to force
......
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