       delay(10);  
     }
   }
+  if (tick % 10 == 0) {
+    if (digitalRead(switch1) == 0){
+      Serial.print("1,");
+    } else {
+      Serial.print("0,");
+    }
+    if (digitalRead(switch2) == 0){
+      Serial.print("1,");
+    } else {
+      Serial.print("0,");
+    }
+    if (digitalRead(switch3) == 0){
+      Serial.println("1");
+    } else {
+      Serial.println("0");
+    }
+  }
+  
+  tick++;
   lastLoopUsefulTime = millis()-loopStartTime;
   if(lastLoopUsefulTime<STD_LOOP_TIME)         delay(STD_LOOP_TIME-lastLoopUsefulTime);
   lastLoopTime = millis() - loopStartTime;

    }
    pitchPid.loop(dt, -positionOutput, -currentPitch);
    if (useSerial){
      Serial.println(pitchPid.output());
      //Serial.print(leftCounter);
      //Serial.print(" | ");
      //Serial.println(rightCounter);


volatile long leftCounter = 0;
volatile long rightCounter = 0;

#define switch1 22
#define switch2 24
#define switch3 26

void setup()
{
