Fuzzy logic Implementation in c for a dynamic environment

I am a student from India, currently working on an autonomous underwater vehicle. I have used the fuzzy logic tool box for controlling four DC brushed motors. So far the FIS file is perfect, but seems to be little complicated. Number of input variables : 8 Fuzzy controller : Mamdani Number of output variables : 4 I have used the default settings for AND, OR and defuzzification method(centroid). I have used only triangular membership functions and trapezoidal membership functions.

Now, I need to implement this logic in a AMD phenom processor whose outputs will be fetched to PIC microcontrollers to drive the motors through drivers.

The input variables are nothing but the outputs of on board sensors systems. And hence they will vary (at a very high rate) as the vehicle progresses.

How shall I obtain the C code for the modeled FIS system? Should I try importing the FIS in C ?? Or should I completely code it on my own?? Have read about the FIS.C file but not sure how it will work with this level of complexity. Any suggestions?