text: 
  #pragma once
  
  //*************************************************************************************************
  #define PID_CONTROLLER_ID "PID_Controller.demo.thi.de"
  #include "stdafx.h"
  #include <adtffiltersdk/adtf_filtersdk.h>
  #include <adtffiltersdk/filter.h>
  #include <adtfmediadescription/codec_sample_streamer.h>
  #include <aadc.h>
  
  using namespace adtf::util;
  using namespace ddl;
  using namespace adtf::ucom;
  using namespace adtf::base;
  using namespace adtf::streaming;
  using namespace adtf::filter;
  using namespace adtf::mediadescription;
  //using namespace adtf::services::ant;
  
  class PID_Controller : public cFilter
  {
      public:
          ADTF_CLASS_ID_NAME(PID_Controller,PID_CONTROLLER_ID,"PID_Controller");
          
  	// Constructor
          PID_Controller();
  	
  	//Processing, if input receives signal
          tResult ProcessInput(tNanoSeconds tmTrigger, ISampleReader* pReader);
          
          //virtual tTimeStamp GetTime();
  
      private:
  	// Declaration of variables
          tFloat64 m_erroralt = 0;
          tFloat64 m_accumulatedError = 0;
          tFloat64 m_error = 0;
          tFloat64 target_value;
          tFloat64 measured_value;
          tFloat64 m_PIDResult = 0;
          clock_t m_currentTime = 0;
          clock_t m_LastUpdateTime = 0;
  	
  	// Declaration of property variables
          property_variable<tFloat64> m_PIDKp = 1;
          property_variable<tFloat64> m_PIDKi = 0.1;
          property_variable<tFloat64> m_PIDKd = 0;
          property_variable<tFloat64> m_PIDMinimumOutput = -100;
          property_variable<tFloat64> m_PIDMaximumOutput = 100;
          //property_variable<tFloat64> m_AWUMaxDiffSum = 0; see .cpp
  	
  	// Declaration of Writer and Readers
          ISampleWriter* output_writer = nullptr;
          ISampleReader* input_reader1 = nullptr;
          ISampleReader* input_reader2 = nullptr;
  };
  
  //*************************************************************************************************
  