Make constant tuning more stable by putting I into the intergral sum
Merge branch 'derivative_kick' into tuning_changes
Fix comment
Merge branch 'master' into tuning_changes

Conflicts:
	pidctrl.go
Change GetPID() to just PID()
Merge branch 'derivative_kick_tests' into tuning_changes
Merge pull request #2 from PSUdaemon/tuning_changes

Tuning changes