PID.Start C# (CSharp) Method

    public void Start()
    {
        if (m_autoKd) { /*m_Kp = 200.0f; */m_Kd = 0.1f * m_Kp; }
            //2.0f * Mathf.Sqrt(m_Kp);
    }

 private void trackBar1_MouseCaptureChanged(object sender, EventArgs e)
 {
     x = 0;
     graphics.Clear(Color.White);
     pid                    = PID.Create(Convert.ToDouble(domainUpDown1.Text), Convert.ToDouble(domainUpDown2.Text), Convert.ToDouble(domainUpDown3.Text), domainUpDown4.Text == "无限制" ? 0 : Convert.ToDouble(domainUpDown4.Text), comboBox1.Text == "增量型" ? PIDType.Increment : PIDType.Positional, Convert.ToInt32(textBox1.Text));
     pid.StepEvent         += Pid_StepEvent;
     pid.TargetAttachEvent += Pid_TargetAttachEvent;
     lastPoint              = lastIncPoint = new PointF(0, 0);
     pid.Start(Convert.ToDouble(trackBar1.Value / 10d), 0);
 }