Finished up the avr print statements.
Debugging the PIV over memory problem
Moved PID functions into logical files. 

I wanted to have the sub systems of the PID controller moved into
separate files. The AbstractPID is where all the function pointers,
getters and setters are held.
Moved the PID velocity setup into correct file
Added headr includes
Changed the static memory setting to the progromatic version
Moving the pid velocity set
Adding missing function prototypes for functions moved to separate file
added missing include
reset the makefile