Initial Commit To Git Hub

There are 3 changes:
 - All code changes will now be here instead of on Google Code
 - The license has been changed to GPLv3
 - Support for Arduino 1.0 was added

PID_v1/Examples/PID_AdaptiveTunings/PID_AdaptiveTunings.pde

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+/********************************************************
+ * PID Adaptive Tuning Example
+ * One of the benefits of the PID library is that you can
+ * change the tuning parameters at any time.  this can be
+ * helpful if we want the controller to be agressive at some
+ * times, and conservative at others.   in the example below
+ * we set the controller to use Conservative Tuning Parameters
+ * when we're near setpoint and more agressive Tuning
+ * Parameters when we're farther away.
+ ********************************************************/
+
+#include <PID_v1.h>
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Define the aggressive and conservative Tuning Parameters
+double aggKp=4, aggKi=0.2, aggKd=1;
+double consKp=1, consKi=0.05, consKd=0.25;
+
+//Specify the links and initial tuning parameters
+PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);
+
+void setup()
+{
+  //initialize the variables we're linked to
+  Input = analogRead(0);
+  Setpoint = 100;
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(0);
+  
+  double gap = abs(Setpoint-Input); //distance away from setpoint
+  if(gap<10)
+  {  //we're close to setpoint, use conservative tuning parameters
+    myPID.SetTunings(consKp, consKi, consKd);
+  }
+  else
+  {
+     //we're far from setpoint, use aggressive tuning parameters
+     myPID.SetTunings(aggKp, aggKi, aggKd);
+  }
+  
+  myPID.Compute();
+  analogWrite(3,Output);
+}
+
+

PID_v1/Examples/PID_Basic/PID_Basic.pde

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+/********************************************************
+ * PID Basic Example
+ * Reading analog input 0 to control analog PWM output 3
+ ********************************************************/
+
+#include <PID_v1.h>
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Specify the links and initial tuning parameters
+PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
+
+void setup()
+{
+  //initialize the variables we're linked to
+  Input = analogRead(0);
+  Setpoint = 100;
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(0);
+  myPID.Compute();
+  analogWrite(3,Output);
+}
+
+

PID_v1/Examples/PID_RelayOutput/PID_RelayOutput.pde

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+/********************************************************
+ * PID RelayOutput Example
+ * Same as basic example, except that this time, the output
+ * is going to a digital pin which (we presume) is controlling
+ * a relay.  the pid is designed to Output an analog value,
+ * but the relay can only be On/Off.
+ *
+ *   to connect them together we use "time proportioning
+ * control"  it's essentially a really slow version of PWM.
+ * first we decide on a window size (5000mS say.) we then 
+ * set the pid to adjust its output between 0 and that window
+ * size.  lastly, we add some logic that translates the PID
+ * output into "Relay On Time" with the remainder of the 
+ * window being "Relay Off Time"
+ ********************************************************/
+
+#include <PID_v1.h>
+#define RelayPin 6
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Specify the links and initial tuning parameters
+PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
+
+int WindowSize = 5000;
+unsigned long windowStartTime;
+void setup()
+{
+  windowStartTime = millis();
+  
+  //initialize the variables we're linked to
+  Setpoint = 100;
+
+  //tell the PID to range between 0 and the full window size
+  myPID.SetOutputLimits(0, WindowSize);
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(0);
+  myPID.Compute();
+
+  /************************************************
+   * turn the output pin on/off based on pid output
+   ************************************************/
+  if(millis() - windowStartTime>WindowSize)
+  { //time to shift the Relay Window
+    windowStartTime += WindowSize;
+  }
+  if(Output < millis() - windowStartTime) digitalWrite(RelayPin,HIGH);
+  else digitalWrite(RelayPin,LOW);
+
+}
+
+
+