user: Demonstrate the C code that generates the assembly output below:

```asm
<PIDcon>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  add    $0xffffffffffffff80,%rsp
  movsd  %xmm0,-0x48(%rbp)
  movsd  %xmm1,-0x50(%rbp)
  movsd  %xmm2,-0x58(%rbp)
  mov    %rdi,-0x60(%rbp)
  movsd  %xmm3,-0x68(%rbp)
  movsd  %xmm4,-0x70(%rbp)
  movsd  %xmm5,-0x78(%rbp)
  movl   $0x0,-0x3c(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x38(%rbp)
  movsd  D1(%rip),%xmm0
  movsd  %xmm0,-0x30(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x28(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x20(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x18(%rbp)
  movsd  -0x48(%rbp),%xmm0
  subsd  -0x58(%rbp),%xmm0
  movsd  %xmm0,-0x10(%rbp)
  movsd  -0x50(%rbp),%xmm0
  subsd  -0x58(%rbp),%xmm0
  movsd  %xmm0,-0x8(%rbp)
  mov    -0x60(%rbp),%rax
  movsd  (%rax),%xmm0
  addsd  -0x10(%rbp),%xmm0
  mov    -0x60(%rbp),%rax
  movsd  %xmm0,(%rax)
  movsd  -0x68(%rbp),%xmm0
  mulsd  -0x10(%rbp),%xmm0
  movsd  %xmm0,-0x28(%rbp)
  mov    -0x60(%rbp),%rax
  movsd  (%rax),%xmm0
  mulsd  -0x70(%rbp),%xmm0
  movsd  -0x30(%rbp),%xmm1
  mulsd  %xmm1,%xmm0
  movsd  %xmm0,-0x20(%rbp)
  movsd  -0x10(%rbp),%xmm0
  subsd  -0x8(%rbp),%xmm0
  mulsd  -0x78(%rbp),%xmm0
  divsd  -0x30(%rbp),%xmm0
  movsd  %xmm0,-0x18(%rbp)
  movsd  -0x28(%rbp),%xmm1
  movsd  D75(%rip),%xmm0
  addsd  %xmm1,%xmm0
  addsd  -0x20(%rbp),%xmm0
  movsd  -0x18(%rbp),%xmm1
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x38(%rbp)
  movsd  D52(%rip),%xmm0
  comisd -0x38(%rbp),%xmm0
  jbe    L13
  movsd  D52(%rip),%xmm0
  movsd  %xmm0,-0x38(%rbp)
L13:
  movsd  -0x38(%rbp),%xmm0
  comisd D73(%rip),%xmm0
  jbe    L1
  movsd  D73(%rip),%xmm0
  movsd  %xmm0,-0x38(%rbp)
L1:
  movsd  -0x18(%rbp),%xmm1
  movsd  -0x20(%rbp),%xmm0
  mov    -0x28(%rbp),%rax
  movapd %xmm1,%xmm2
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  lea    D24(%rip),%rax
  mov    %rax,%rdi
  call   <printf@plt>
  movsd  -0x38(%rbp),%xmm0
  movsd  D29(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movq   %rax,%xmm0
  leave
  ret
```

tool_calls: name: disassemble_data
arguments: data_tag: D1
type_guessed: f64
name: disassemble_data
arguments: data_tag: D75
type_guessed: f32[2]
name: disassemble_data
arguments: data_tag: D52
type_guessed: f32[2]
name: disassemble_data
arguments: data_tag: D73
type_guessed: f32[4]
name: disassemble_data
arguments: data_tag: D24
type_guessed: string
name: disassemble_data
arguments: data_tag: D29
type_guessed: f32[2]

tool: D1: 0.01

tool: {"D75": [0.0,11.220703125]}

tool: {"D52": [0.0,10.9073486328125]}

tool: {"D73": [0.0,11.9073486328125,0.0,7.762939453125]}

tool: D24: %.4f,%.4f,%.4f


tool: {"D29": [0.0,7.762939453125]}

assistant: ```c
double PIDcon(double after_p, double before_p, double cmd_angle, double *theta_integral, double cmd_Pgain, double cmd_Igain, double cmd_Dgain) {
  int Derivatives = 0;
  double cmd = 0;
  double time_interval = 0.01;
  double P_cmd = 0;
  double I_cmd = 0;
  double D_cmd = 0;
  double after = after_p - cmd_angle;
  double before = before_p - cmd_angle;
  *theta_integral += after;
  P_cmd = cmd_Pgain * after;
  I_cmd = cmd_Igain * (*theta_integral) * time_interval;
  D_cmd = cmd_Dgain * (after - before) / time_interval;
  cmd = 1280000 + P_cmd + I_cmd + D_cmd;
  if (cmd < 1000000)
    cmd = 1000000;
  if (cmd > 2000000)
    cmd = 2000000;
  printf("%.4f,%.4f,%.4f\n", P_cmd, I_cmd, D_cmd);
  return cmd / 100000;
}
```