close loop for PI

good day..

i laready make sample program close loop want using kp , ki error after compile need means of error "" [font=verdana]pid_v1.cpp:8: fatal error: wprogram.h: no such file or directory compilation terminated[/font].""

i attached program need conform parts make mistake.


#include <math.h>
#include <pid_v1.h>

float vdc= a0;    // reading vdc or setpoint
float vs= a1; // reading vs
float is= a2;// reading current is
float vtri= a3; // reading vtriangle wave
float pulsepin1 = 12; // set output pin 12
float pulsepin2= 9;

float digvdc; // digital vdc
float digvs; // digital vs
float digis; // digital is
float digvtri; // digital triangle wave form
float analogvdc; // analog vdc
float analogvs; // analog vs or v input
float analogis; // analog (current)
float analogvtri; // analog triangle wave
float analogvsin; // analog vsin
float analognegvsin; // analog -vsin
float analogiref; // analog reference


pid mypid(&analogis,&analogvsin,&analogiref, 1,2,0,direct);
void setup() {
  // declare pulsepin output:
  pinmode(pulsepin1, output);
pinmode(pulsepin2, output);



   digvdc = analogread(vdc);
   digvs=  analogread(vs);
   digis= analogread(is);
   digvtri= analogread(vtri);
   analogvdc= digvdc *(5.0/1024.0);
   analogvs= digvs* ( 5.0/1024.0);
   analogis= digis *(5.0/1024.0);
   analogvtri= digvtri *(5.0/1024.0);
   analogiref=(analogvdc)*(analogvs);
// turn pid on
mypid.setmode(automatic);
   


   }

void loop() {
   

analognegvsin=(-1.0)*analogvsin;

mypid.compute();


             
if (analogvsin>=analogvtri)  {
  digitalwrite( pulsepin1, high);   //pin 12 
}
if ( analogvsin< analogvtri){
  digitalwrite(pulsepin1,low);

}
if( analognegvsin>=analogvtri){
  digitalwrite( pulsepin2, high);

   
}
if ( analognegvsin<analogvtri){
   digitalwrite(pulsepin2, low);

}   
}

it looks have old library. edit pid_v1.cpp , change wprogram.h reference arduino.h

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