I don't see any complete PID implementations in that thread... I would recommend reading these two documents if you intend to code a PID loop:
Matt Krass's whitepaper, and
PID without a PhD. If you want to get a little more advanced you can search around the forum to find out how to go about writing generalized PID functions. (PID without a PhD actually uses a generalized function, but I don't think it talks about it specifically)