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+# PID
+
+## Introduction
+
+A PID controller seeks to keep some input variable close to a desired setpoint by adjusting an output. The way in which it does this can be 'tuned' by adjusting three parameters (P,I,D).
+
+This is a rewrite of the code from http://playground.arduino.cc/Code/PIDLibrary by Brett Beauregard.
+
+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/
+
+## Features
+