/********************************************************************************************** * C PID Library - Version 1.0.1 * modified my Matthew Blythe <mblythester@gmail.com> mjblythe.com/hacks * originally by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com * * This Library is licensed under a GPLv3 License **********************************************************************************************/ - For an ultra-detailed explanation of why the code is the way it is, please visit: http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/ - This code is also modified to remove the ability to be called at irregular intervals. I assume that most folks coding in raw C can set up a regular timer-based interrupt.