Added README.rst
Added units tests and UnitTest++ library to test/. Made debug printing portable (by creating PrintDebug() function). Fixed bug with settingSampleMs for PidDbl object (added 'this->'). Prevented derivative control for influencing the output until at least two calls to Run() have been made (i.e. doesn't assume previous input was 0.0 on first call to Run()).
Added support for PID control of any data type by making PID class and functions templates.
Fixed commit issues, removed .goutstream files.