Changes

better working error controller

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 3010d00)

PI error control

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: c73a9cc)

Simplify how I was thinking about K states

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 9359ed2)

Add exception handling to cleanup

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 0c6899f)

Basic minstep/maxstep logic

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: dd95067)

rearrange the DP5 interpolant

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 2cb9292)

Hang state off the IVP object

This reduces the method signatures but is less functional.

I was starting down the road of passing t, tnew, y, ynew and
dy, dynew to half of the callback methods, which starts to
look like litter.

Amazingly this fixes the Shepperd tests which seems to have been
a real bug fixed by the new Habs/_habsNext handling (probably in
better handling of Tnew and the isWithin() comparison when
pulling off the interpolated values?)

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: d277897)

Lot of work

- Working BS3 implementation
- Start of event support
- Additional DP5 random testing
- Fixes major interpolant caching/re-use bug
- Adds Bisection method (used by eventing)
- Eventing may or may not work at all right now

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 51e44f9)