THIS IS NOT THE OFFICIAL CODE!!! THIS IS A PORT TO ROBOTC FOR VEX CORTEX - SEE BELOW


/**********************************************************************************************
 * 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.
 


 * Adapted for VEX ROBOTC by Brian Pratt <brianstephenspratt@gmail.com>
 * Assumes that we're controlling rotation speed using a quad encoder
 * N.B. could be further simplified and warnings reduced (especially about doubles)
 * but I left a lot alone for ease of tracking any developments in the Arduino code