Extract hardware specific defines, extract Psu abstraction
Add pid parameter to constructor so that pid can be unified for both voltage and current servoing
use the new PID structures
Less code duplication, more niceness
put the main charging logic into order, add precharge stage, add some logic for temp compensation
use controlSignal field, use the right type for it
Extract charger logic to a separate class, change filtering to an superior algorithm, overcurrent protection
add LCD, move overcurrent sensing to pin 7 because I am grib.