Merge branch 'hotfix/0.2.4.2'
Fix for issue #52. Change how temperature limits are calculated to prevent overflow before rounding.
Bonus: this saves 40 bytes, because 2 constrains are replaced by one.
Changed default Kp to 5. I thought it already was 5, but I only changed the comment, not the actual value.
Merge branch 'hotfix/0.2.5' into develop