 double sp_Kp = 5;
 double sp_Kd = 0.5;
 double sp_Ki = 0;
-double starting_bias = 7;
+double starting_bias = 6.5;
 
 // other definitions
 int p1, p2;
 double robot_angle;
 int control_decision = 0;
-
-<<<<<<< HEAD
-=======
-
-//info
-enum state {idle,forward_drive, backup, left_turn,right_turn};
+double factor1 = 1;
+double factor2 = 1;
+bool toggle = false;
+
+// receive info
+enum state {idle,forward, backup, left_turn,right_turn};
 state gesture_state = idle;
-int turning_speed;
-bool should_catapult;
-
->>>>>>> 206c86daf8a79e890468a8966aa9a831e7c4b4e7
+state command = idle;
+
 //========================================== don't see this section ===========================================//
 // volatile interrupt data
 volatile double motor_speed = 0;

  if (control_decision > 255) {control_decision = 255;integrated_error -= error;}
  else if (control_decision< -255) {control_decision = -255;integrated_error -= error;}  
  if (control_decision > 0){
    motorControl(control_decision, control_decision,1,1);
    //motorControl(int(control_decision*0.8), int(control_decision*1.2),1,1);
  } else {
    motorControl(-control_decision, -control_decision, 2,2);
    //motorControl(-int(control_decision*0.8), -int(control_decision*1.2),2,2);
  }
  last_error = error;
  if (0) { // set to 1 to activate
    Serial.print("  robot_angle=");Serial.println(robot_angle);
    Serial.print("  control decision=");Serial.println(control_decision);
  }
}


// angle PID control definitions
double current_angle = 0;
double target_angle = 6.5;
double error = 0;
double last_error = 0;
double delta_error = 0;
