Software PID controller
This crate implements a PID controller. It has seen some amount of real-world usage driving 100+ kW electrical motors, but has not been tested to death. Use with caution (but do use it and file bug reports!).
Any change in behaviour that may make calculations behave differently will result in a major version upgrade; your tunings are safe as long as you stay on the same major version.
Owes a great debt to: