 int dir_left = 13;  // Direction control for motor outputs 3 and 4 is on digital pin 13
 int caseCheck = 8;
 
-//PI variables
-//double leftOut, rightOut;
-//double err;
-//double err2 = 0;
-//double Kp = 4 ;
-//double Ki = 5;
+
+
 
 // 2249 ticks for one full revolution
 double leftWheelTickCount = 0;  

}

float getDistance() {
//  int totalAvgNoOfTicks = (leftWheelTickCount + rightWheelTickCount) / 2;
//  int distanceCoveredInCm = totalAvgNoOfTicks / noOfTicksPerCm;
//  return distanceCoveredInCm;

  long leftPololuCount = abs(PololuWheelEncoders::getCountsM1());                       
  long rightPololuCount = abs(PololuWheelEncoders::getCountsM2());
  float leftcm = ((PI*6)/2249) * leftPololuCount;

  pinMode(dir_left, OUTPUT);
  
  // Check for each ticks on wheels

  
  PololuWheelEncoders::init(rightEncoderOne,rightEncoderTwo,leftEncoderOne,leftEncoderTwo);
  
