This appears to be a really nice series of articles, but wow, what an annoying format. Just give me a .PDF or single .html page, don't make me click 'Next' thirty times. :(

He's not even doing that to show ads. He's just doing it because, hey, it's not like he wants to read it.

I've been using his arduino PID library to stabilize a camera platform and the library works pretty well.