 long R_LastEncoderValue = 0;
 double R_EncoderDelta = 0; 
 double R_LastEncoderDelta = 0; 
-double beta = .90;  // Low Pass Parameter for encoder velocity
+double beta = .50;  // Low Pass Parameter for encoder velocity
 
 // Speed Controller Initialization
 double L_PIDout = 0;

PID L_DCMotorPID(&L_WheelVelocity,
                 &L_PIDout,
                 &lw_cmd_spd,
                 0.15,
                 0.00,
                 0.010,
                 REVERSE);

PID R_DCMotorPID(&R_WheelVelocity,
                 &R_PIDout,
                 &rw_cmd_spd,
                 0.15,
                 0.00,
                 0.010,
                 REVERSE);

int mode = 0;

Encoder L_DCMotorEncoder(LEFT_ENCODER_A_PIN, LEFT_ENCODER_B_PIN);
Encoder R_DCMotorEncoder(RIGHT_ENCODER_A_PIN, RIGHT_ENCODER_B_PIN);

float L_EncoderVelocity = 0; // Radians per second
long L_LastEncoderValue = 0;
double L_EncoderDelta = 0; 
