PID algorithm for PIC18Fxxxx in C18, Speed Control Application

Hi,
I trying to implement a PID algorithm in my code, I had referred to AN899 PID_main, yet the problem I am not familiar with assembly,

I need to use it for close loop speed control, is there any example code of PID inmlemented for PIC18F in C18 not in ASM?

I hope if any body familiar with PID routine to share his experience.


Best Regards
Wael

Try here to start

**broken link removed**