#pragma chip PIC18C252
#include "math24f.h"
uns16 ad_data;
float tx, av, mg, a, vx, prev, kp;

void main(void)
{
    InitFpFlags();   // enable rounding as default
    vx = 3.127;
    tx += ad_data;   // automatic type cast
    ad_data = kp;    // assign integer part
    if (tx < 0)
        tx = -tx;    // make positive
    av = tx/20.0;
    mg = av * 1.25;
    a = mg * 0.98;
    prev = vx;
    vx = a/5.0 + prev;

    kp = vx * 0.036;
    kp = vx / (1.0/0.036);
}