public void Calculate(double x1, double x2, double x1_2, double xout1)
{
Time += _dt;
var objX1 = x1;
if (IsAuto)
{
var pidInput = x1 - _obj.Z2;
objX1 = _pid.CalculateOutput(pidInput);
}
_obj.Calculate(objX1, x2, x1_2, xout1);
Z1 = _obj.Z1;
Z2 = _obj.Z2;
}