	input = analogRead(A0);                //read from rotary encoder connected to A0
	output = computePID(input);
	delay(100);
	analogWrite(3, output);                //control the motor based on PID value

}

double computePID(double inp) {
	currentTime = millis();                //get current time
	elapsedTime = (double)(currentTime - previousTime);        //compute time elapsed from previous computation

