- Moved away from templates to floats and switched to header and source files
- Updated directory structure to support Arduino in addition to CMake builds
- Added an Arduino example
- Updated README
- Updated namespace to bfs
- Updated CONTRIBUTING
- Removed line length exceptions from CI/CD
- Updated gain.h and pid.h to conform to linting
- Updated CONTRIBUTING
- Updated license to MIT
- Added tracking mode for bumpless transition and antiwindup of cascaded controllers. Added kt (tracking gain) setting, derivative initial condition, and integrator initial condition states. Added a Reset method to reset derivative and integrator states to initial conditions.
- Modified derivative and integrator state calculations to match Simulink PID block
- Made antiwindup clamping depend on the sign of ki, which seems like a good general approach
- Antiwindup sign fix
- Initial baseline