   }else{
     Input = 0.0;  
   }
+  
   pid.Compute();
-  Serial.print("Output of PID: "); Serial.println(Output, DEC);
-  Serial.print("Input to PID: "); Serial.println(Input, DEC);
-  Serial.print("Ylw: "); Serial.print(yellow_dist, DEC); Serial.print("\tBlk: "); Serial.println(black_dist, DEC);
-  delay(1000);
+  Serial.print("Input: "); Serial.print(Input, DEC); Serial.print("\t Output: "); Serial.print(Output, DEC); Serial.print("\r");
+  //Serial.print("Input to PID: "); Serial.println(Input, DEC);
+  //Serial.print("Ylw: "); Serial.print(yellow_dist, DEC); Serial.print("\tBlk: "); Serial.println(black_dist, DEC);
+  delay(100);
 }
 
 /*

double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
double Kp = 32609.0;
double Ki = 34517.0;
double Kd = 7086;

PID pid(&Input, &Output, &Setpoint, Kp,Ki,Kd, DIRECT);


  Setpoint = 0;

  //tell the PID to range between 0 and the full window size
  pid.SetOutputLimits(0, 255);

  //turn the PID on
  pid.SetMode(AUTOMATIC);  
  pid.SetSampleTime(1);
}
