Thanks Mr Henrik,Mr RodSTAR and Mr Anonymouse for help.
I succesfully run the motor at constant speed.Motor speed also change through given speed refrence.
Now one problem that i face is motor overshoot in slow speed refrence whenever i turn on the power.Its overshoot cycle comes down when i increase speed refrence.At full speed refrence it get exact speed never overshoot.I am using same PID gains used in original file.I think i must change the GAIN value to overcome this problem.
And also i am using variable for 0-5V to 0-1023 value through ADC.How i use this value to put the gain as used under.
pid_Kp = $0700 'Set Kp to 7.0
Please give some code to convert the value.