/**

• Arduino PID AutoTune Library - Version 0.0.1
• by Brett Beauregard br3ttb@gmail.com brettbeauregard.com
• This Library is ported from the AutotunerPID Toolkit by William Spinelli
• (http://www.mathworks.com/matlabcentral/fileexchange/4652)
• Copyright (c) 2004
• This Library is licensed under the BSD License:
• Redistribution and use in source and binary forms, with or without
• modification, are permitted provided that the following conditions are
• met:
• • Redistributions of source code must retain the above copyright
• notice, this list of conditions and the following disclaimer.
• • Redistributions in binary form must reproduce the above copyright
• notice, this list of conditions and the following disclaimer in
• the documentation and/or other materials provided with the distribution
• THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
• AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
• IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
• ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
• LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
• CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
• SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
• INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
• CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
• ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

• POSSIBILITY OF SUCH DAMAGE. **/

  Note: I'd really hoped to have this more polished before release, but with the osPID coming out I felt that this needed to be out there NOW. if you encounter any issues please contact me, or post to the diy-pid-control google group.