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Circuit Pro Industries M0 DC Closed Loop Servo

   read a rotary encoder with interrupts
   Encoder hooked up with common to GROUND,
   encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
   it doesn't matter which encoder pin you use for A or B 
   
   is possible to change PID costants by sending on SerialUSB interfaces the values separated by ',' in this order: KP,KD,KI
   example: 5.2,3.1,0 so we have  KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage

*/ 
/*   -----------------To Do-----------------
 *
 *    Come up with offical name!!!!!
 *    Implement code for physical EEPROM for V2 Board (Chip:24LC256 ADDRESS:0x50) (32Kb Storage) (I2c on SDA and SCL)
 *    PID Auto Tune
 *    Error Reporting
 *    Force sensing
 *    Host Communincation
 *    Performance Reporting and Info for Osiliscope
 *    Switchless Homing(force sensing)
 *    Master and Slave Mirroring
 *    Configurable Limits
 *    Create Host Software
 *    Implement Unit linking
 *    Implement Wire communication (Serial I2C)
 *    Complete data sheet and usage guide.
 *    
*/