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PIDControl

-                      v1
+                      v2
 While proportional control works in many cases, it can take time to achieve the proper power balances, can be slow to react to changes, and in some cases can even oscillate or never reach the proper power levels.  PID control is a more sophisticated solution that takes more factors into consideration:
 * P = Proportion - how much the current error is
 * I = Integral - how much error has accumulated over time
 * D = Derivative - how fast the error is increasing/decreasing
+* P = Proportion - current error
+* I = Integral   - accumulated error over time
+* D = Derivative - rate error is increasing/decreasing
 Code examples are coming soon