    ST.motor(2, power2);
   }
 }
+void computePIDTuning()
+{
+ myPID1.SetTunings(atof(kpm1.value())*Kp1, atof(kim1.value())*Ki1, atof(kdm1.value())*Kd1);
+ myPID2.SetTunings(atof(kpm2.value())*Kp2, atof(kim2.value())*Ki2, atof(kdm2.value())*Kd2);
+}
  

double Setpoint2, Input2, Output2;
double Input3;
// Specify the links and initial tuning parameters (Kp, Ki, Kd)
PID myPID1(&Input1, &Output1, &Setpoint1, 1, 0, 0, DIRECT);
PID myPID2(&Input2, &Output2, &Setpoint2, 1, 0, 0, DIRECT);

// Hardware specific parameters
// Potentiometer

TinyGPSCustom pwm2     (nmea, "ORPW2", 1);  // Dimentionless voltage setpoint (Pulse Width Modulation) for Sabertooth output 2
TinyGPSCustom setpos1  (nmea, "ORSP1", 1);  // Position setpoint for Sabertooth output 1
TinyGPSCustom setpos2  (nmea, "ORSP2", 1);  // Position setpoint for Sabertooth output 2
TinyGPSCustom kpm1 (nmea, "ORKP1", 1); // Proportional coefficient multiplicator
TinyGPSCustom kim1 (nmea, "ORKI1", 1); // Integral coefficient multiplicator
TinyGPSCustom kdm1 (nmea, "ORKD1", 1); // Derivative coefficient multiplicator
TinyGPSCustom kpm2 (nmea, "ORKP2", 1); // Proportional coefficient multiplicator
TinyGPSCustom kim2 (nmea, "ORKI2", 1); // Integral coefficient multiplicator
TinyGPSCustom kdm2 (nmea, "ORKD2", 1); // Derivative coefficient multiplicator
boolean isFeedbackRequested = false;

uint8_t buf[RH_ASK_MAX_MESSAGE_LEN];
