br3ttb,
You might want to include a default constructor in your next build. This might be my lack of experience with this platform but the following would not compile:
include <WProgram.h>
include<PID_Beta6.h>
class foo{
public:
PID myPID;
}
Apparently it would not compile b/c it could not find a matching function call to PID();
I am new to this particular platform, so I could be missing something, however to get this to work in my class I had add the default constructor to your code and recompile.
Otherwise your package looks good.