   Serial.print(" rSet: ");
   Serial.print(rSet);
   Serial.print(" lv:");
-  Serial.print(lv);
+  Serial.print(lv*1000);
   Serial.print(" rv:");
-  Serial.print(rv);
+  Serial.print(rv*1000);
   Serial.print(" lOut:"); 
-  Serial.print(lOut*4);
+  Serial.print(lOut);
   Serial.print(" rOut:");
-  Serial.print(rOut*4);
+  Serial.print(rOut);
   Serial.print(" lmc:");
   Serial.print(lmc);
   Serial.print(" rmc=");

    } else {
      rdir=-1;
    }
    analogWrite(D1, lpwm);
    analogWrite(D2, rpwm);
    digitalWrite(D3, llevel);
    digitalWrite(D4, rlevel);
}
void lencode() {          // GPIO ISR Interrupt service routines for encoder changes
  lmc=lmc+ldir;
}
void rencode(){ 
  rmc=rmc+rdir;
}


  Serial.print(lki);
  Serial.print(" lkd: ");
  Serial.println(lkd);
  delay(1000);
}

