/********************************************************
 * osPID Firmware, for Arduino PID Shield, v1.0.0
 * original code by Brett Beauregard & Rocket Scream
 * additional code by Benjamin K. Stuhl and Tom Price
 * License: GPLv3 & BSD License (For autotune)
 * November 2013
 ********************************************************/

This code is a variant of the original osPID firmware, written by Brett Beauregard and
Rocket Scream and revamped by Benjamin K. Stuhl. It was created for the stripboard
Arduino PID controller shield and has been adapted to reflect the new hardware. It also
features numerous extensions and updates. 

Firmware for the stripboard Arduino PID controller shield is documented:
http://smokedprojects.blogspot.com/2013/11/stripboard-pid-arduino-shield-firmware.html