Just a quick note to some people who've provided help, suggestions,
bug-fixes, etc. along the way...

Nick Lott: (And others)
  Hints about making it work with C++

Philipp Stefan Neininger:
  Minor bug in the Makefile to do with cross compiling

Chris McSweeny
  Hints and tips about the use of arithmetic in gettimeofday()
    inside the dealyMicrosecondsHard() function.
  And spotting a couple of schoolboy errors in the (experimental)
  softServo code, prompting me to completely re-write it.