diff --git a/PID_v1.cpp b/PID_v1.cpp
index cb6637c..27175b7 100644
--- a/PID_v1.cpp
+++ b/PID_v1.cpp
@@ -17,7 +17,7 @@
  *    The parameters specified here are those for for which we can't set up
  *    reliable defaults, so we need to have the user set them.
  ***************************************************************************/
-PID::PID(double* Input, double* Output, double* Setpoint,
+PID2::PID2(double* Input, double* Output, double* Setpoint,
         double Kp, double Ki, double Kd, int POn, int ControllerDirection)
 {
     myOutput = Output;
@@ -41,7 +41,7 @@ PID::PID(double* Input, double* Output, double* Setpoint,
  *    to use Proportional on Error without explicitly saying so
  ***************************************************************************/
 
-PID::PID(double* Input, double* Output, double* Setpoint,
+PID2::PID2(double* Input, double* Output, double* Setpoint,
         double Kp, double Ki, double Kd, int ControllerDirection)
     :PID::PID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection)
 {
@@ -55,7 +55,7 @@ PID::PID(double* Input, double* Output, double* Setpoint,
  *   pid Output needs to be computed.  returns true when the output is computed,
  *   false when nothing has been done.
  **********************************************************************************/
-bool PID::Compute()
+bool PID2::Compute()
 {
    if(!inAuto) return false;
    unsigned long now = millis();
@@ -99,7 +99,7 @@ bool PID::Compute()
  * it's called automatically from the constructor, but tunings can also
  * be adjusted on the fly during normal operation
  ******************************************************************************/
-void PID::SetTunings(double Kp, double Ki, double Kd, int POn)
+void PID2::SetTunings(double Kp, double Ki, double Kd, int POn)
 {
    if (Kp<0 || Ki<0 || Kd<0) return;
 
@@ -124,14 +124,14 @@ void PID::SetTunings(double Kp, double Ki, double Kd, int POn)
 /* SetTunings(...)*************************************************************
  * Set Tunings using the last-rembered POn setting
  ******************************************************************************/
-void PID::SetTunings(double Kp, double Ki, double Kd){
+void PID2::SetTunings(double Kp, double Ki, double Kd){
     SetTunings(Kp, Ki, Kd, pOn); 
 }
 
 /* SetSampleTime(...) *********************************************************
  * sets the period, in Milliseconds, at which the calculation is performed
  ******************************************************************************/
-void PID::SetSampleTime(int NewSampleTime)
+void PID2::SetSampleTime(int NewSampleTime)
 {
    if (NewSampleTime > 0)
    {
@@ -151,7 +151,7 @@ void PID::SetSampleTime(int NewSampleTime)
  *  want to clamp it from 0-125.  who knows.  at any rate, that can all be done
  *  here.
  **************************************************************************/
-void PID::SetOutputLimits(double Min, double Max)
+void PID2::SetOutputLimits(double Min, double Max)
 {
    if(Min >= Max) return;
    outMin = Min;
@@ -172,7 +172,7 @@ void PID::SetOutputLimits(double Min, double Max)
  * when the transition from manual to auto occurs, the controller is
  * automatically initialized
  ******************************************************************************/
-void PID::SetMode(int Mode)
+void PID2::SetMode(int Mode)
 {
     bool newAuto = (Mode == AUTOMATIC);
     if(newAuto && !inAuto)
@@ -186,7 +186,7 @@ void PID::SetMode(int Mode)
  *	does all the things that need to happen to ensure a bumpless transfer
  *  from manual to automatic mode.
  ******************************************************************************/
-void PID::Initialize()
+void PID2::Initialize()
 {
    outputSum = *myOutput;
    lastInput = *myInput;
@@ -200,7 +200,7 @@ void PID::Initialize()
  * know which one, because otherwise we may increase the output when we should
  * be decreasing.  This is called from the constructor.
  ******************************************************************************/
-void PID::SetControllerDirection(int Direction)
+void PID2::SetControllerDirection(int Direction)
 {
    if(inAuto && Direction !=controllerDirection)
    {