 #include <PID_v1.h>
 #include <Settings.h>
+#include <SPI.h>
+#include <Servo.h>
+Servo STEER_SERVO;
+
+
 
 #define MEG 1000000
 #define MAX_SPEED_KPH 50

// ((WHEEL_DIAMETER_MM * 3142) / MIN_SPEED_mmPs)
// MinTickTime_ms = 9239 ms = 9 sec

double SpeedCyclometer_mmPs = 0; //Note: doubles on Arduinos are the same thing as floats, 4bytes, single precision
// Speed in revolutions per second is independent of wheel size.
//float SpeedCyclometer_revPs = 0.0;//revolutions per sec

  //    SerialMonitor.println(OldTick);

  //    SerialMonitor.println("WheelRev setup complete");
  
}

void computeSpeed(struct hist *data){
  //cyclometer has only done 1 or 2 revolutions
