close all
clear all
clear globals; 

Kp = 0;
Kd = 0;

Nmods = 3;

global elast;
elast = 0;

p = PID_Shim; p.Configure;


tf = 1;
It = 1;  %Amps

elast = 0;

tic
while(t<tf)
Ic = GetADC(channel);
Ir = GetADC(channel);
t0 = t;
t = toc;



FF = It-Ic;
e = It-Ir;
edot = (e-elast)/;
elast = e;
ctrl = FF+Kp*e-Kd*edot;

SId = .5*ctrl/(2*N/3)+.25;
if(SId > .76) SId = .75;  end
if(SId < .24) S

  Set_PWM_DutyCycle(SId);


end