PID vận tốc với PIC!

[arm_cortex01]

void main ()
{
value=0;
i=0;
e=0;
e1=0;
a=0;
vttb=0;
b=0;


setup_adc(ADC_CLOCK_INTERNAL );
lcd_init(); //ham khoi tao LCD
lcd_setposition(line_1);
printf(lcd_putchar,"SET : RPM");

lcd_setposition(line_2);
printf(lcd_putchar,"SPEED : 0 RPM");


setup_ccp1(CCP_PWM);
setup_timer_2(T2_DIV_BY_1,255, 1);

output_e (0xf2);

enable_interrupts (INT_TIMER0);
enable_interrupts (GLOBAL);



while(true)
{

j= (Read_ADC())*17/10; // so vong / phut
x=(j*0.032768);
lcd_setposition(line_1);
printf(lcd_putchar,"SET : RPM");
LCD_PutCmd ( 0x88 );
printf(lcd_putchar,"%ld",j);
vttb=(int16)(i*30.51757812); // vantoc trung binh

lcd_setposition(line_2);
printf(lcd_putchar,"SPEED : RPM");
LCD_PutCmd ( 0xc8 );
printf(lcd_putchar,"%ld",vttb);
delay_ms (200);

}
}