	.file	"966240.c"
	.intel_syntax noprefix
	.text
	.globl	pid_step
	.type	pid_step, @function
pid_step:
.LFB0:
	.cfi_startproc
	endbr64
	push	rbp
	.cfi_def_cfa_offset 16
	.cfi_offset 6, -16
	mov	rbp, rsp
	.cfi_def_cfa_register 6
	mov	QWORD PTR -24[rbp], rdi
	movss	DWORD PTR -28[rbp], xmm0
	movss	DWORD PTR -32[rbp], xmm1
	mov	rax, QWORD PTR -24[rbp]
	movss	xmm0, DWORD PTR [rax]
	movss	xmm1, DWORD PTR -32[rbp]
	mulss	xmm0, xmm1
	movss	DWORD PTR -8[rbp], xmm0
	mov	rax, QWORD PTR -24[rbp]
	movss	xmm1, DWORD PTR 16[rax]
	movss	xmm0, DWORD PTR -32[rbp]
	movaps	xmm2, xmm0
	mulss	xmm2, DWORD PTR -28[rbp]
	mov	rax, QWORD PTR -24[rbp]
	movss	xmm0, DWORD PTR 4[rax]
	mulss	xmm0, xmm2
	addss	xmm0, xmm1
	mov	rax, QWORD PTR -24[rbp]
	movss	DWORD PTR 16[rax], xmm0
	pxor	xmm0, xmm0
	ucomiss	xmm0, DWORD PTR -28[rbp]
	jp	.L6
	pxor	xmm0, xmm0
	comiss	xmm0, DWORD PTR -28[rbp]
	je	.L7
.L6:
	mov	rax, QWORD PTR -24[rbp]
	movss	xmm1, DWORD PTR 12[rax]
	movss	xmm0, DWORD PTR -32[rbp]
	subss	xmm0, xmm1
	movaps	xmm1, xmm0
	divss	xmm1, DWORD PTR -28[rbp]
	mov	rax, QWORD PTR -24[rbp]
	movss	xmm0, DWORD PTR 8[rax]
	mulss	xmm0, xmm1
	jmp	.L4
.L7:
	pxor	xmm0, xmm0
.L4:
	movss	DWORD PTR -4[rbp], xmm0
	mov	rax, QWORD PTR -24[rbp]
	movss	xmm0, DWORD PTR -32[rbp]
	movss	DWORD PTR 12[rax], xmm0
	mov	rax, QWORD PTR -24[rbp]
	movss	xmm0, DWORD PTR 16[rax]
	addss	xmm0, DWORD PTR -8[rbp]
	addss	xmm0, DWORD PTR -4[rbp]
	pop	rbp
	.cfi_def_cfa 7, 8
	ret
	.cfi_endproc
.LFE0:
	.size	pid_step, .-pid_step
	.section	.rodata
.LC1:
	.string	"PID Controller Example"
	.align 8
.LC2:
	.string	"Please enter controller gains in format kP, kI, KD. For example, \"1.2 2.1 3.2\"\n> "
.LC3:
	.string	"%f %f %f"
.LC4:
	.string	"Using kP: %f, kI: %f, kD: %f\n"
.LC6:
	.string	"Enter error value\n>"
.LC7:
	.string	"%f"
.LC8:
	.string	"Output: %f\n"
	.text
	.globl	main
	.type	main, @function
main:
.LFB1:
	.cfi_startproc
	endbr64
	push	rbp
	.cfi_def_cfa_offset 16
	.cfi_offset 6, -16
	mov	rbp, rsp
	.cfi_def_cfa_register 6
	sub	rsp, 48
	mov	rax, QWORD PTR fs:40
	mov	QWORD PTR -8[rbp], rax
	xor	eax, eax
	lea	rdi, .LC1[rip]
	call	puts@PLT
	mov	QWORD PTR -32[rbp], 0
	mov	QWORD PTR -24[rbp], 0
	mov	DWORD PTR -16[rbp], 0
	lea	rdi, .LC2[rip]
	mov	eax, 0
	call	printf@PLT
	lea	rax, -32[rbp]
	lea	rcx, 8[rax]
	lea	rax, -32[rbp]
	lea	rdx, 4[rax]
	lea	rax, -32[rbp]
	mov	rsi, rax
	lea	rdi, .LC3[rip]
	mov	eax, 0
	call	__isoc99_scanf@PLT
	movss	xmm0, DWORD PTR -24[rbp]
	pxor	xmm1, xmm1
	cvtss2sd	xmm1, xmm0
	movss	xmm0, DWORD PTR -28[rbp]
	cvtss2sd	xmm0, xmm0
	movss	xmm2, DWORD PTR -32[rbp]
	pxor	xmm3, xmm3
	cvtss2sd	xmm3, xmm2
	movq	rax, xmm3
	movapd	xmm2, xmm1
	movapd	xmm1, xmm0
	movq	xmm0, rax
	lea	rdi, .LC4[rip]
	mov	eax, 3
	call	printf@PLT
	movss	xmm0, DWORD PTR .LC5[rip]
	movss	DWORD PTR -40[rbp], xmm0
.L9:
	lea	rdi, .LC6[rip]
	mov	eax, 0
	call	printf@PLT
	lea	rax, -44[rbp]
	mov	rsi, rax
	lea	rdi, .LC7[rip]
	mov	eax, 0
	call	__isoc99_scanf@PLT
	movss	xmm0, DWORD PTR -44[rbp]
	mov	edx, DWORD PTR -40[rbp]
	lea	rax, -32[rbp]
	movaps	xmm1, xmm0
	movd	xmm0, edx
	mov	rdi, rax
	call	pid_step
	movd	eax, xmm0
	mov	DWORD PTR -36[rbp], eax
	pxor	xmm4, xmm4
	cvtss2sd	xmm4, DWORD PTR -36[rbp]
	movq	rax, xmm4
	movq	xmm0, rax
	lea	rdi, .LC8[rip]
	mov	eax, 1
	call	printf@PLT
	jmp	.L9
	.cfi_endproc
.LFE1:
	.size	main, .-main
	.section	.rodata
	.align 4
.LC5:
	.long	1065353216
	.ident	"GCC: (Ubuntu 10.5.0-1ubuntu1~20.04) 10.5.0"
	.section	.note.GNU-stack,"",@progbits
	.section	.note.gnu.property,"a"
	.align 8
	.long	 1f - 0f
	.long	 4f - 1f
	.long	 5
0:
	.string	 "GNU"
1:
	.align 8
	.long	 0xc0000002
	.long	 3f - 2f
2:
	.long	 0x3
3:
	.align 8
4:

	.arch armv5t
	.eabi_attribute 20, 1
	.eabi_attribute 21, 1
	.eabi_attribute 23, 3
	.eabi_attribute 24, 1
	.eabi_attribute 25, 1
	.eabi_attribute 26, 2
	.eabi_attribute 30, 6
	.eabi_attribute 34, 0
	.eabi_attribute 18, 4
	.file	"966240.c"
	.text
	.global	__aeabi_fmul
	.global	__aeabi_fadd
	.global	__aeabi_fcmpeq
	.global	__aeabi_fsub
	.global	__aeabi_fdiv
	.align	2
	.global	pid_step
	.syntax unified
	.arm
	.fpu softvfp
	.type	pid_step, %function
pid_step:
	@ args = 0, pretend = 0, frame = 24
	@ frame_needed = 1, uses_anonymous_args = 0
	push	{r4, fp, lr}
	add	fp, sp, #8
	sub	sp, sp, #28
	str	r0, [fp, #-24]
	str	r1, [fp, #-28]	@ float
	str	r2, [fp, #-32]	@ float
	ldr	r3, [fp, #-24]
	ldr	r3, [r3]	@ float
	mov	r1, r3
	ldr	r0, [fp, #-32]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	str	r3, [fp, #-20]	@ float
	ldr	r3, [fp, #-24]
	ldr	r4, [r3, #16]	@ float
	ldr	r1, [fp, #-28]	@ float
	ldr	r0, [fp, #-32]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r2, r3
	ldr	r3, [fp, #-24]
	ldr	r3, [r3, #4]	@ float
	mov	r1, r3
	mov	r0, r2
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, r3
	mov	r0, r4
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r2, r3
	ldr	r3, [fp, #-24]
	str	r2, [r3, #16]	@ float
	mov	r1, #0
	ldr	r0, [fp, #-28]	@ float
	bl	__aeabi_fcmpeq
	mov	r3, r0
	cmp	r3, #0
	bne	.L7
	ldr	r3, [fp, #-24]
	ldr	r3, [r3, #12]	@ float
	mov	r1, r3
	ldr	r0, [fp, #-32]	@ float
	bl	__aeabi_fsub
	mov	r3, r0
	ldr	r1, [fp, #-28]	@ float
	mov	r0, r3
	bl	__aeabi_fdiv
	mov	r3, r0
	mov	r2, r3
	ldr	r3, [fp, #-24]
	ldr	r3, [r3, #8]	@ float
	mov	r1, r3
	mov	r0, r2
	bl	__aeabi_fmul
	mov	r3, r0
	b	.L4
.L7:
	mov	r3, #0
.L4:
	str	r3, [fp, #-16]	@ float
	ldr	r3, [fp, #-24]
	ldr	r2, [fp, #-32]	@ float
	str	r2, [r3, #12]	@ float
	ldr	r3, [fp, #-24]
	ldr	r3, [r3, #16]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	ldr	r1, [fp, #-16]	@ float
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r0, r3
	sub	sp, fp, #8
	@ sp needed
	pop	{r4, fp, pc}
	.size	pid_step, .-pid_step
	.section	.rodata
	.align	2
.LC0:
	.ascii	"PID Controller Example\000"
	.align	2
.LC1:
	.ascii	"Please enter controller gains in format kP, kI, KD."
	.ascii	" For example, \"1.2 2.1 3.2\"\012> \000"
	.align	2
.LC2:
	.ascii	"%f %f %f\000"
	.global	__aeabi_f2d
	.align	2
.LC3:
	.ascii	"Using kP: %f, kI: %f, kD: %f\012\000"
	.align	2
.LC4:
	.ascii	"Enter error value\012>\000"
	.align	2
.LC5:
	.ascii	"%f\000"
	.align	2
.LC6:
	.ascii	"Output: %f\012\000"
	.align	2
.LC7:
	.word	__stack_chk_guard
	.text
	.align	2
	.global	main
	.syntax unified
	.arm
	.fpu softvfp
	.type	main, %function
main:
	@ args = 0, pretend = 0, frame = 40
	@ frame_needed = 1, uses_anonymous_args = 0
	push	{r4, r5, r6, r7, fp, lr}
	add	fp, sp, #20
	sub	sp, sp, #56
	ldr	r3, .L11
	ldr	r3, [r3]
	str	r3, [fp, #-24]
	mov	r3,#0
	ldr	r0, .L11+4
	bl	puts
	sub	r3, fp, #44
	mov	r2, #0
	str	r2, [r3]
	str	r2, [r3, #4]
	str	r2, [r3, #8]
	str	r2, [r3, #12]
	str	r2, [r3, #16]
	ldr	r0, .L11+8
	bl	printf
	sub	r3, fp, #44
	add	r0, r3, #8
	sub	r3, fp, #44
	add	r2, r3, #4
	sub	r1, fp, #44
	mov	r3, r0
	ldr	r0, .L11+12
	bl	__isoc99_scanf
	ldr	r3, [fp, #-44]	@ float
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r6, r0
	mov	r7, r1
	ldr	r3, [fp, #-40]	@ float
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r4, r0
	mov	r5, r1
	ldr	r3, [fp, #-36]	@ float
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r2, r0
	mov	r3, r1
	str	r2, [sp, #8]
	str	r3, [sp, #12]
	stm	sp, {r4-r5}
	mov	r2, r6
	mov	r3, r7
	ldr	r0, .L11+16
	bl	printf
	mov	r3, #1065353216
	str	r3, [fp, #-52]	@ float
.L9:
	ldr	r0, .L11+20
	bl	printf
	sub	r3, fp, #56
	mov	r1, r3
	ldr	r0, .L11+24
	bl	__isoc99_scanf
	ldr	r2, [fp, #-56]	@ float
	sub	r3, fp, #44
	ldr	r1, [fp, #-52]	@ float
	mov	r0, r3
	bl	pid_step
	str	r0, [fp, #-48]	@ float
	ldr	r0, [fp, #-48]	@ float
	bl	__aeabi_f2d
	mov	r2, r0
	mov	r3, r1
	ldr	r0, .L11+28
	bl	printf
	b	.L9
.L12:
	.align	2
.L11:
	.word	.LC7
	.word	.LC0
	.word	.LC1
	.word	.LC2
	.word	.LC3
	.word	.LC4
	.word	.LC5
	.word	.LC6
	.size	main, .-main
	.ident	"GCC: (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0"
	.section	.note.GNU-stack,"",%progbits
