   if (millis()-lastWriteTime>100)
   {
     lastWriteTime = millis();
-    Serial.println(alphaSigned);
+    //Serial.println(alphaSigned);
+    Serial.println(Output);
     if (isSerialControl)
     {
       //Serial.println("S");

long lastWriteTime = 0;

TinyGPSPlus nmea;
TinyGPSCustom pwm(nmea, "ORPWM", 1); // $GPGSA sentence, 15th element


void setup()
{

  SWSerial.begin(9600);
  // Initialize serial communications at 9600 bps:
  Serial.begin(19200);
  Input = 0;
  Setpoint = 0;
  //turn the PID on
  myPID.SetMode(AUTOMATIC);
  myPID.SetOutputLimits(-128, 128);
}

void SerialEvent() {
