   Serial.print(" rSet: ");
   Serial.print(rSet);
   Serial.print(" lv:");
-  Serial.print(lv);
+  Serial.print(lv*1000);
   Serial.print(" rv:");
-  Serial.print(rv);
+  Serial.print(rv*1000);
   Serial.print(" lOut:"); 
-  Serial.print(lOut*4);
+  Serial.print(lOut);
   Serial.print(" rOut:");
-  Serial.print(rOut*4);
+  Serial.print(rOut);
   Serial.print(" lmc:");
   Serial.print(lmc);
   Serial.print(" rmc=");

  pinMode(D4, OUTPUT); // 3A,4A aka D4
  pinMode(D5, INPUT); //  Left encoder
  pinMode(D6, INPUT); //  Right encoder
  attachInterrupt(D5, lencode, CHANGE); // Setup Interrupt 
  attachInterrupt(D6, rencode, CHANGE); // Setup Interrupt 
  sei();                                // Enable interrupts  
 
  int currentTime = millis();
  int cloopTime = currentTime;
  os_timer_setfn(&myTimer, tic, NULL);
  os_timer_arm(&myTimer, period, true);   // timer in ms
  lPID.SetSampleTime(period);
  rPID.SetSampleTime(period); 
  lPID.SetOutputLimits(0, 1023);  
  rPID.SetOutputLimits(0, 1023);  
  lPID.SetMode(AUTOMATIC);

  Serial.print(lki);
  Serial.print(" lkd: ");
  Serial.println(lkd);
  delay(1000);
}

