 #include "DCMotors.h" 
 #include "Sensor.h"
+
+#define START 's'
+#define STOP 't'
+
+bool debug = false;
+bool startDrive = false;
 
 DCMotors<10,18,19,11,14,15> motors; //enL, L1, L2, enR, R1, R2
 Sensor<2,3,4,5,6,7,8,9> sensors;

float P=0, I=0, D=0, PID_value=0;
int error=0;
float previous_error=0, previous_I=0;
//int sensor[8]={0, 0, 0, 0, 0, 0, 0, 0};

void read_sensor_values(void);
void calculate_pid(void);
void motor_control(void);

void setup() {
  // put your setup code here, to run once:
  motors.configure();
  sensors.configure();
  Serial.begin(9600);
  
}

void loop() {
  // put your main code here, to run repeatedly:
    phone();
    sensors.updateError();
    calculate_pid();
    motors.drive(PID_value);
    delay(500);

}


   **/ 
}

void btDebug()
{
  
  if(Serial.available())
