PID-loop tutorial

I use the LOG command output data to "throttle_log", it goes into a file called "throttle_log.txt" which I then rename to something like "throttle.001.log" in the OS. not sure if I can rename it within kOS. Anyways, the code examples have all been tested now.
These were some dependencies I needed to compile the website using middleman. Seemed a common problem and I got the solution from [stackoverflow](http://stackoverflow.com/questions/18081652/error-with-dependencies-with-middleman-and-gemfile)