There were some mistakes in the code I posted to github. I've updated the branch with the corrections (code generation was right, documentation was inverted)...
https://github.com/dirty-mechanics-3...tree/pid-talon
...please note that you need to use the jar files in the artifacts folder. That was the most expedient way to make them available for now. Still new to git/github. Also note that it's a maven project so you'll need a maven plugin for eclipse if you want to work with the source.