Several changes

  - Worked to improve PID controller.  Should probably look to
    bring filter into Glow Worm so i can use it as a tool in the
    derivative.
  - Simple plant and control effort changed to use a long for
    u since it often exceeds 32000 when max RPM is around 10K.
  - Most importantly, quadrature was fixed to allows configuration
    for Uno or Due boards.