* This function positions the cursor at the specified * x,y coordinate. It uses the ANSI standard ESCAPE * * sequence to produce the desired effect. Its not the * * fastest way to position the cursor, but perhaps the * * most portable. *
PID calculations for the _pid structure *a. This function uses the positional form of the pid equation, and incorporates an integral windup prevention algorithim. Rectangular integration is used, so this function must be repeated on a consistent time basis for accurate control.
