 boolean initd = false;
 
 double positionOutput = 0;
-int   STD_LOOP_TIME  =  9;
+int STD_LOOP_TIME  =  9;
 int lastLoopTime = STD_LOOP_TIME;
 int lastLoopUsefulTime = STD_LOOP_TIME;
 unsigned long loopStartTime = 0;
+
+unsigned long tick = 0;
 
 void loop()
 {

  pinMode(rightEncoder2,INPUT); 
  attachInterrupt(0,leftEncoder,FALLING); // pin 2
  attachInterrupt(1,rightEncoder,FALLING); // pin 3
  SabertoothTXPinSerial.begin(38400); // Serial1
  ST.setRamping(1);
  ST.drive(0); // The Sabertooth won't act on mixed mode packet serial commands until

void stopMotors()
{
  if (useSerial){
    //Serial.println("stopMotors");
  }
  ST.drive(0);
}
