Coding 

On the trail of PID motor control I found this interesing library.
This may save me a lot of "reinventing the wheel" and allow me to
concentrate on high level tasks ... just as the author intended ;-)
http://seasight.dforge.cse.ucsc.edu/details/data_acquisition/ATmega128/avrlib/docs/html/index.html

The more examples the better.

Onward,
Jay