Added new package cl-robot-controllers with implementation and tests of pid-controllers.
Started to refactored PID controllers.
2nd stage of refactoring of PID-macro.
Exported symbols of P/I/D-controllers after refactoring.
Added nickname for unit-tests of cl-robot-controllers.
Uncommented old unit-tests for cl-robot-controllers because API changed.
Unit-tests for new API of P/I/D-controllers after refactoring.