Finished dopri5, interpolation, and callbacks

src/controller.rs

@@ -21,8 +21,6 @@ impl<const D:usize> Controller<D> for PIController {
         let factor_11 = err.powf(self.alpha);
         let factor = self.factor_c2.max(self.factor_c1.min(factor_11 * self.factor_old.powf(-self.beta) / self.safety_factor));
         let mut h_new = h / factor;
-        // let mut h_new = 0.9 * h * err.powf(-1.0 / 5.0);
-        println!("err: {}\th_new: {}", err, h_new);
         if err <= 1.0 {
             // Accept the stepsize
             self.factor_old = err.max(1.0e-4);