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***************************************************************
* Arduino PID Library - Version 1.2.1-de-arduino-ed
* by Brett Beauregard <[email protected]> brettbeauregard.com
* modified by Guido Schreuder
*
* This Library is licensed under the MIT License
***************************************************************

 - 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/

 - For function documentation see:  http://playground.arduino.cc/Code/PIDLibrary

 - dependency on Arduino library was removed

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