[jdong]

encoder.c:

* You are free to use this source code for any non-commercial
* use. Please do not make copies of this source code, modified
* or un-modified, publicly available on the internet or
* elsewhere without permission. Thanks.

I hate these restrictive licenses.

I've already rewritten the PID algorithm (pid-ng): http://cvs.sourceforge.net/viewcvs.p...s-live/frc2005

NOTE: may not have shown up yet. Use Sourceforge anon CVS if you want to see the latest version -- the webviewer always has a few hour's delay.

I'll rewrite everything else later. Definitely we need clarification on the license.