     return x;
   }
 }
-
-void pin7Changed(){
-  Serial.println("Changed");
-}

   
  Ierr = error * Ki * DTms;

  Ierr = constrain_int32(Ierr, -(int32_t)500000, (int32_t)500000);

  *errorSum += Ierr;
 

      Serial.println(rollAngle);
      subTick = 0;
    }

  }
  subTick++;
}
