i mean the code i have attached ! 
haven't you seen yet! :o
i understand my code my friend but i am having trubble to let some people understand what i have done
but unfortunately it seems there are some people who don't bother to focus
and they keep guessing
i have explained much !
and i have attached the code so now its easy to be understood
i have so far taken a veiw point that what i have done is the same standerd PID sys
some one is talking about that ,it means that he has understood it
all i have to say is that you have to study my code and joop brooking code to understand what i have done
that will reduce arguments