float PpiEqn(void)
{
	float	R0;		//oް
	float	R1;		//vZpڼ޽
float	R2;		//vZpڼ޽

	//ʒuٰ
	R0 = fgPosErr;		// r0 = err(n)
	R1 = fgVel;		// r1 = vel(n)
	R0 = CoefPtr[0] * R0;	// r0 = Gpp = Kpp * X(n) 
	R2 = R0 - R1;		// r2 = verr(n) = Gpp ? vel(n)
	//xٰ
	R0 = CoefPtr[1] * R2;	// r0 = Gpv = Kpv * verr(n)
	R1 = HistPtr[0];		// r1 = Icharge(n-1)
	R1 = R1 + R2;		// r1 = Icharge(n-1) + verr(n)
	HistPtr[0] = R1;		// ̌vZ̈Icharge(n)ۑ
	R1 = CoefPtr[2] * R1;	// r1 = Giv = Kiv * Icharge(n)
	R0 = R1 + R0;		// r0 = Gpv + Giv
	return R0;
}

۰ٕϐ
fgPosErr = ʒu΍
fgVel = x
HistPtr[0] = 1ّO̐ϕ Icharge(n-1)ۑĂB
CoefPtr[0] = ʒu޲ KppۑĂB
CoefPtr[1] = x޲ KpvۑĂB
CoefPtr[2] = xϕ޲ KivۑĂB
