THIS CODE MAY MELT YOUR CPU – download only if you plan to read it, test it, and/or hack on it. The license makes it clear that it comes with no warranty.
I’ve already received an interesting email from Mark M Hoffman in reply to my post to the mailing list announcing it, drawing my attention to PID control loops. Looks like it could be a worthy avenue of investigation. I’ve replied with a description of one issue I see with applying a PID controller in this domain.