   int power1, power2;
   sensorValue = analogRead(analogInPin);
   setMode();
-  //alphaSigned=Output/127.0;
+  computePID();
+  alphaSigned1=Output/127.0;
   computeAlphaSigned();
   power1 = alphaSigned1*127;
   power2 = alphaSigned2*127;
   ST.motor(1, power1);
-  ST.motor(2, power2);
+  //ST.motor(2, power2);
   delay(10);
   if (millis()-lastWriteTime>100)
   {

// It is as well derived from HBridgePWM.ino from robokite project
// http://code.google.com/p/robokite/source/browse/HBridgePWM/HBridgePWM.ino
// The selector 1 3 5 6 have to be on on.
#include <SoftwareSerial.h>
#include <SabertoothSimplified.h>
#include <TinyGPS++.h>
#include <PID_v1.h>

SoftwareSerial SWSerial(NOT_A_PIN, 8); // RX on no pin (unused), TX on pin 11 (to S1).
SabertoothSimplified ST(SWSerial); // Use SWSerial as the serial port.

const int analogInPin = A0;  // Analog input pin that the potentiometer is attached to

  //turn the PID on
  myPID.SetMode(AUTOMATIC);
  myPID.SetOutputLimits(-50, 50);
  
  //*****************************************************
  pinMode(pinA, INPUT);
  digitalWrite(pinA, HIGH);
  attachInterrupt(0, int0, CHANGE);
  //PCintPort::attachInterrupt(pinA, &int0, CHANGE);
  pinMode(pinB, INPUT);
  digitalWrite(pinB, HIGH);
  attachInterrupt(1, int1, CHANGE);
  //PCintPort::attachInterrupt(pinB, &int1, CHANGE);
  
  // Pin used to get absolute position
  pinMode(pinReset, INPUT);
  digitalWrite(pinReset, HIGH);
  PCintPort::attachInterrupt(pinReset, &reset, CHANGE);
  
}

void serialEvent() {
