 #include <PID_v1.h>
-
-#define pinA A1
-#define INTA 2
-#define INTB 3
 
 const int EA=9;
 const int EB=10;

  DirectionlastR=DirectionR;
}

void forward()
{
  digitalWrite(pinLa,HIGH);

const int pinLb=8;
const int pinRa=12;
const int pinRb=13;
const int trigpin=4;
const int echopin=5;

double SetpointL=10, SetpointR=10;
double Kp=0.6, Ki=5, Kd=0;
double outputL, outputR;
double inputL, inputR, speedvalueL, speedvalueR;
