Merge pull request #21 from DougEdey/master

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Merge pull request #22 from DougEdey/master

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Merge pull request #23 from DougEdey/master

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Merge pull request #24 from DougEdey/master

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Merge pull request #25 from DougEdey/master

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Fix for overshoot when duty hits -100 the output control would break out and turn everything off.
Merge pull request #26 from DougEdey/master

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Merge pull request #26 from cmpterman2/master

Fix for overshoot when duty hits -100 and output would turn off until restart