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matthewreed

updated pid code to use fixed point math

#include "stm32f0xx_hal.h"
#include "stm32f0xx.h"
#include "interrupts.h"

extern PCD_HandleTypeDef hpcd_USB_FS;

void USB_IRQHandler(void)
{
  HAL_PCD_IRQHandler(&hpcd_USB_FS);
}

void SysTick_Handler(void)
{
  HAL_IncTick();
  HAL_SYSTICK_IRQHandler();
}